diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-11-37_551008693/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-11-37_551008693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5bb14fd0be2c28d592ecb111f165a9183e40560 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-11-37_551008693/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 265.5177700237085, + 220.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 268.11584623506184, + 219.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 270.71392244641515, + 217.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 273.31199865776847, + 216.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 275.9100748691218, + 214.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 278.5081510804751, + 213.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 281.1062272918284, + 211.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.70430350318173, + 210.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.30237971453505, + 208.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 288.90045592588837, + 207.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 291.4985321372417, + 205.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.096608348595, + 204.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.6946845599483, + 202.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 299.29276077130163, + 201.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.89083698265495, + 199.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 304.48891319400826, + 198.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 307.0869894053616, + 196.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 309.6850656167149, + 195.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 312.2831418280682, + 193.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 314.8812180394215, + 192.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.47929425077484, + 190.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.07737046212816, + 189.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 322.6754466734815, + 187.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 325.2735228848348, + 186.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 327.8715990961881, + 184.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.4696753075414, + 183.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 333.06775151889474, + 181.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 335.66582773024805, + 180.30375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 338.26390394160137, + 178.80375852076344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 340.8619801529547, + 177.30375852076344, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-15-37_1781485213/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-15-37_1781485213/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ae410748ccb7350daf1cfdccece599f91fbdf2b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-15-37_1781485213/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 665.1336040688988, + -260.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 662.5355278575455, + -258.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 659.9374516461921, + -257.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 657.3393754348388, + -255.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 654.7412992234854, + -254.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 652.143223012132, + -252.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 649.5451468007786, + -251.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 646.9470705894253, + -249.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 644.3489943780719, + -248.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 641.7509181667185, + -246.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 639.1528419553651, + -245.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 636.5547657440118, + -243.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 633.9566895326584, + -242.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 631.358613321305, + -240.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 628.7605371099517, + -239.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 626.1624608985983, + -237.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 623.5643846872449, + -236.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 620.9663084758915, + -234.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 618.3682322645382, + -233.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 615.7701560531848, + -231.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 613.1720798418314, + -230.0692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 610.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 610.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 607.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 604.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 601.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 598.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 595.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 592.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 589.574003630478, + -228.5692673321957, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-12_1501830323/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-12_1501830323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abe56ae1a8a6fdbd0042d23cd91a91226444e5e0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-17-12_1501830323/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 481.8610803250206, + -35.63868392116035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 483.3610803250206, + -38.236760132513666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 484.8610803250206, + -40.83483634386698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 486.3610803250206, + -43.4329125552203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 487.8610803250206, + -46.030988766573614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 489.3610803250206, + -48.62906497792693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 490.8610803250206, + -51.227141189280246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 492.3610803250206, + -53.82521740063356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 493.8610803250206, + -56.42329361198688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 495.3610803250206, + -59.021369823340194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 496.8610803250206, + -61.61944603469351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 498.3610803250206, + -64.21752224604683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 499.8610803250206, + -66.81559845740014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 501.3610803250206, + -69.41367466875346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 502.8610803250206, + -72.01175088010677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 504.3610803250206, + -74.60982709146009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 505.8610803250206, + -77.2079033028134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 507.3610803250206, + -79.80597951416672, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 508.8610803250206, + -82.40405572552004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 510.3610803250206, + -85.00213193687335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 511.8610803250206, + -87.60020814822667, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 511.8610803250206, + -87.60020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 514.4591565363739, + -89.10020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 517.0572327477273, + -90.60020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 519.6553089590807, + -92.10020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 522.2533851704341, + -93.60020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 524.8514613817874, + -95.10020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 527.4495375931408, + -96.60020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 530.0476138044942, + -98.10020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 532.6456900158475, + -99.60020814822667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 535.2437662272009, + -101.10020814822667, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-19-39_322334813/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-19-39_322334813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d767eba4c2104c5aa86d27e56c1db7b3d41451e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-19-39_322334813/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 209.3297219801191, + 355.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 211.92779819147242, + 354.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 214.52587440282574, + 352.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.12395061417905, + 351.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 219.72202682553237, + 349.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 222.32010303688568, + 348.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.918179248239, + 346.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 227.51625545959232, + 345.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 230.11433167094563, + 343.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 232.71240788229895, + 342.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 235.31048409365226, + 340.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 237.90856030500558, + 339.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 240.5066365163589, + 337.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 243.1047127277122, + 336.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 245.70278893906553, + 334.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 248.30086515041884, + 333.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 250.89894136177216, + 331.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 253.49701757312548, + 330.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 256.09509378447876, + 328.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983036 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.6931699958321, + 327.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 261.2912462071854, + 325.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 263.8893224185387, + 324.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 266.487398629892, + 322.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 269.08547484124534, + 321.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.68355105259866, + 319.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.281627263952, + 318.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.8797034753053, + 316.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 279.4777796866586, + 315.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 282.0758558980119, + 313.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.67393210936524, + 312.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 287.27200832071856, + 310.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 289.87008453207187, + 309.2084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.4681607434252, + 307.7084133766607, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.4681607434252, + 307.7084133766607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.9681607434252, + 305.1103371653074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 295.4681607434252, + 302.51226095395407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.9681607434252, + 299.91418474260075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 298.4681607434252, + 297.31610853124744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 299.9681607434252, + 294.7180323198941, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 301.4681607434252, + 292.1199561085408, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.9681607434252, + 289.5218798971875, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-26-56_29860596/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-26-56_29860596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3edd85fd4b915d311645613d917d3a5895b8002 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-26-56_29860596/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 877.3206306540797, + -147.814456270142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 875.8206306540797, + -150.4125324814953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 874.3206306540797, + -153.01060869284862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 872.8206306540797, + -155.60868490420194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 871.3206306540797, + -158.20676111555525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 869.8206306540797, + -160.80483732690857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 868.3206306540797, + -163.40291353826188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 866.8206306540797, + -166.0009897496152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 865.3206306540797, + -168.59906596096852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 863.8206306540797, + -171.19714217232183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 862.3206306540797, + -173.79521838367515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 860.8206306540797, + -176.39329459502846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 859.3206306540797, + -178.99137080638178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 857.8206306540797, + -181.5894470177351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 856.3206306540797, + -184.1875232290884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 854.8206306540797, + -186.78559944044173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 853.3206306540797, + -189.38367565179504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 851.8206306540797, + -191.98175186314836, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 850.3206306540797, + -194.57982807450168, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 848.8206306540797, + -197.177904285855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 847.3206306540797, + -199.7759804972083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 845.8206306540797, + -202.37405670856162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 844.3206306540797, + -204.97213291991494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 842.8206306540797, + -207.57020913126826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 841.3206306540797, + -210.16828534262157, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 839.8206306540797, + -212.7663615539749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 838.3206306540797, + -215.3644377653282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 836.8206306540797, + -217.96251397668152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 835.3206306540797, + -220.56059018803484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 833.8206306540797, + -223.15866639938815, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 832.3206306540797, + -225.75674261074147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 830.8206306540797, + -228.35481882209478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 829.3206306540797, + -230.9528950334481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 827.8206306540797, + -233.55097124480142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 826.3206306540797, + -236.14904745615473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 824.8206306540797, + -238.74712366750805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 823.3206306540797, + -241.34519987886137, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 821.8206306540797, + -243.94327609021468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 820.3206306540797, + -246.541352301568, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-35_523782140/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-35_523782140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..389acace7f78ad04f2ac7135378ed738db92b592 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-33-35_523782140/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1839.1750520068651, + -96.39839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1841.7731282182185, + -94.89839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1844.371204429572, + -93.39839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1846.9692806409253, + -91.89839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1849.5673568522786, + -90.39839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1852.165433063632, + -88.89839143449669, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1852.165433063632, + -88.89839143449669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1855.165433063632, + -88.89839143449669, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-7_1998562957/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-7_1998562957/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af4a1059b7109e62a011889699e41a8b1b4a925c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-37-7_1998562957/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 512.1700971518073, + -1.1976683248316817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 513.6700971518073, + 1.4004078865216343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 515.1700971518073, + 3.9984840978749503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 516.6700971518073, + 6.596560309228266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 518.1700971518073, + 9.194636520581582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 519.6700971518073, + 11.792712731934898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 521.1700971518073, + 14.390788943288214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 522.6700971518073, + 16.98886515464153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.1700971518073, + 19.586941365994846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 525.6700971518073, + 22.185017577348162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 527.1700971518073, + 24.78309378870148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 528.6700971518073, + 27.381170000054794, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 530.1700971518073, + 29.97924621140811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 531.6700971518073, + 32.577322422761426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 533.1700971518073, + 35.17539863411474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 534.6700971518073, + 37.77347484546806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 536.1700971518073, + 40.371551056821374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 537.6700971518073, + 42.96962726817469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 539.1700971518073, + 45.56770347952801, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 540.6700971518073, + 48.16577969088132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 542.1700971518073, + 50.76385590223464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 543.6700971518073, + 53.361932113587955, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 545.1700971518073, + 55.96000832494127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 546.6700971518073, + 58.55808453629459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 548.1700971518073, + 61.1561607476479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 549.6700971518073, + 63.75423695900122, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 551.1700971518073, + 66.35231317035453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 552.6700971518073, + 68.95038938170785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 554.1700971518073, + 71.54846559306117, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 554.1700971518073, + 71.54846559306117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 554.1700971518073, + 74.54846559306117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 554.1700971518073, + 77.54846559306117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 554.1700971518073, + 80.54846559306117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 554.1700971518073, + 83.54846559306117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 554.1700971518073, + 86.54846559306117, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-38-33_2138078721/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-38-33_2138078721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6faa70f2e62d742531bd5bc7c06006021c23a1af --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-38-33_2138078721/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1186.8975613636612, + 782.2524104198974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1185.3975613636612, + 784.8504866312508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1183.8975613636612, + 787.4485628426041, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1182.3975613636612, + 790.0466390539575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1180.8975613636612, + 792.6447152653109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1179.3975613636612, + 795.2427914766643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1177.8975613636612, + 797.8408676880176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1176.3975613636612, + 800.438943899371, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1174.8975613636612, + 803.0370201107244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1173.3975613636612, + 805.6350963220777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1171.8975613636612, + 808.2331725334311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1170.3975613636612, + 810.8312487447845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1168.8975613636612, + 813.4293249561379, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1167.3975613636612, + 816.0274011674912, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1165.8975613636612, + 818.6254773788446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1164.3975613636612, + 821.223553590198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1162.8975613636612, + 823.8216298015514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1161.3975613636612, + 826.4197060129047, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1159.8975613636612, + 829.0177822242581, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1158.3975613636612, + 831.6158584356115, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1156.8975613636612, + 834.2139346469648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1155.3975613636612, + 836.8120108583182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1153.8975613636612, + 839.4100870696716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1152.3975613636612, + 842.008163281025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1150.8975613636612, + 844.6062394923783, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1149.3975613636612, + 847.2043157037317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1147.8975613636612, + 849.8023919150851, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1146.3975613636612, + 852.4004681264385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1144.8975613636612, + 854.9985443377918, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1144.8975613636612, + 854.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1142.2994851523079, + 856.4985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1139.7014089409545, + 857.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1137.103332729601, + 859.4985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1134.5052565182477, + 860.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1131.9071803068944, + 862.4985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1129.309104095541, + 863.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1126.7110278841876, + 865.4985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1124.1129516728342, + 866.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1121.5148754614809, + 868.4985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1118.9167992501275, + 869.9985443377918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1116.3187230387741, + 871.4985443377918, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-39-30_556707205/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-39-30_556707205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..513d89942e2630aab6abf79c2cc1f74a034c24bc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-39-30_556707205/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1153.7954814806628, + 48.208265497334196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1152.2954814806628, + 50.80634170868751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1150.7954814806628, + 53.40441792004083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1149.2954814806628, + 56.002494131394144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1147.7954814806628, + 58.60057034274746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1146.2954814806628, + 61.198646554100776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1144.7954814806628, + 63.79672276545409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1143.2954814806628, + 66.39479897680741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1141.7954814806628, + 68.99287518816072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1140.2954814806628, + 71.59095139951404, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1140.2954814806628, + 71.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1140.2954814806628, + 74.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1140.2954814806628, + 77.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1140.2954814806628, + 80.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1140.2954814806628, + 83.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1140.2954814806628, + 86.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1140.2954814806628, + 89.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1140.2954814806628, + 92.59095139951404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1140.2954814806628, + 95.59095139951404, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-4-58_256363941/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-4-58_256363941/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0086a0a80b01706ec7944537815b31c49c9ecec1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-4-58_256363941/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1897.0671518547667, + 120.58026087267872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1895.5671518547667, + 117.9821846613254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1894.0671518547667, + 115.38410844997209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1892.5671518547667, + 112.78603223861877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1891.0671518547667, + 110.18795602726546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1889.5671518547667, + 107.58987981591214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1888.0671518547667, + 104.99180360455883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1886.5671518547667, + 102.39372739320551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1885.0671518547667, + 99.7956511818522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1883.5671518547667, + 97.19757497049888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1882.0671518547667, + 94.59949875914556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1880.5671518547667, + 92.00142254779225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1879.0671518547667, + 89.40334633643893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1877.5671518547667, + 86.80527012508561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1876.0671518547667, + 84.2071939137323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1874.5671518547667, + 81.60911770237898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1873.0671518547667, + 79.01104149102567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1871.5671518547667, + 76.41296527967235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1870.0671518547667, + 73.81488906831903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1868.5671518547667, + 71.21681285696572, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1867.0671518547667, + 68.6187366456124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1865.5671518547667, + 66.02066043425909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1864.0671518547667, + 63.42258422290577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1862.5671518547667, + 60.82450801155245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1861.0671518547667, + 58.22643180019914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1859.5671518547667, + 55.62835558884582, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1859.5671518547667, + 55.62835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1856.9690756434134, + 54.12835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1854.37099943206, + 52.62835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1851.7729232207066, + 51.12835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1849.1748470093532, + 49.62835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1846.5767707979999, + 48.12835558884582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1843.9786945866465, + 46.62835558884582, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-49_1004011520/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-49_1004011520/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c337d1fd2378dfa2057f4332b6d3ad050dff4ac0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-41-49_1004011520/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1915.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1918.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1921.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1924.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1927.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1930.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1933.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1936.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1939.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1942.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1945.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1948.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1951.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1954.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1957.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1960.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1960.123018966363, + 13.788879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1962.7210951777163, + 15.288879799562402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1965.3191713890697, + 16.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1967.917247600423, + 18.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1970.5153238117764, + 19.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1973.1134000231298, + 21.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1975.7114762344831, + 22.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1978.3095524458365, + 24.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1980.90762865719, + 25.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1983.5057048685433, + 27.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1986.1037810798966, + 28.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1988.70185729125, + 30.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1991.2999335026034, + 31.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1993.8980097139568, + 33.2888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1996.4960859253101, + 34.7888797995624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1999.0941621366635, + 36.2888797995624, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-44-46_713355511/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-44-46_713355511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bd0a59475e9f1724f3faa651612524463412efa --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-44-46_713355511/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 890.7154041633579, + 62.380062477138324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 892.2154041633579, + 59.78198626578501, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 893.7154041633579, + 57.18391005443169, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 895.2154041633579, + 54.585833843078376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 896.7154041633579, + 51.98775763172506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 898.2154041633579, + 49.389681420371744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 899.7154041633579, + 46.79160520901843, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 901.2154041633579, + 44.19352899766511, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 902.7154041633579, + 41.595452786311796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 904.2154041633579, + 38.99737657495848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 905.7154041633579, + 36.399300363605164, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 905.7154041633579, + 36.399300363605164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 905.7154041633579, + 33.399300363605164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 905.7154041633579, + 30.399300363605164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 905.7154041633579, + 27.399300363605164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 905.7154041633579, + 24.399300363605164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 905.7154041633579, + 21.399300363605164, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-55-38_894869401/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-55-38_894869401/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cdbac71f6f858bb467c9e69da1dc178904a4670 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-55-38_894869401/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 450.39398202664694, + -186.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.99205823800025, + -184.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.59013444935357, + -183.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.1882106607069, + -181.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 460.7862868720602, + -180.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 463.3843630834135, + -178.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.98243929476683, + -177.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 468.58051550612015, + -175.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.17859171747347, + -174.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 473.7766679288268, + -172.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 476.3747441401801, + -171.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 478.9728203515334, + -169.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 481.57089656288673, + -168.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 484.16897277424005, + -166.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.76704898559336, + -165.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 489.3651251969467, + -163.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 491.9632014083, + -162.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 494.5612776196533, + -160.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.1593538310066, + -159.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 499.75743004235994, + -157.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 502.35550625371326, + -156.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 504.9535824650666, + -154.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 507.5516586764199, + -153.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 510.1497348877732, + -151.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 512.7478110991265, + -150.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 515.3458873104798, + -148.6637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 517.9439635218332, + -147.1637966729324, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 517.9439635218332, + -147.1637966729324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 519.4439635218332, + -144.56572046157908, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 520.9439635218332, + -141.96764425022576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 522.4439635218332, + -139.36956803887244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 523.9439635218332, + -136.77149182751913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 525.4439635218332, + -134.1734156161658, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-8-28_1631207466/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-8-28_1631207466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..012d079819d72eb63aee809486fe867c98c10cf0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-8-28_1631207466/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 703.191464674467, + -364.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 705.7895408858203, + -362.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 708.3876170971737, + -361.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 710.9856933085271, + -359.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 713.5837695198804, + -358.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 716.1818457312338, + -356.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 718.7799219425872, + -355.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 721.3779981539406, + -353.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 723.9760743652939, + -352.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 726.5741505766473, + -350.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 729.1722267880007, + -349.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 731.770302999354, + -347.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 734.3683792107074, + -346.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 736.9664554220608, + -344.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 739.5645316334142, + -343.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 742.1626078447675, + -341.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 744.7606840561209, + -340.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 747.3587602674743, + -338.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 749.9568364788277, + -337.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 752.554912690181, + -335.9544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 755.1529889015344, + -334.4544285239772, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 755.1529889015344, + -334.4544285239772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 756.6529889015344, + -331.85635231262387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 758.1529889015344, + -329.25827610127055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 759.6529889015344, + -326.66019988991724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 761.1529889015344, + -324.0621236785639, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 762.6529889015344, + -321.4640474672106, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 764.1529889015344, + -318.8659712558573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 765.6529889015344, + -316.267895044504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 767.1529889015344, + -313.66981883315066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 768.6529889015344, + -311.07174262179734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 770.1529889015344, + -308.473666410444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 771.6529889015344, + -305.8755901990907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 773.1529889015344, + -303.2775139877374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 774.6529889015344, + -300.6794377763841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 776.1529889015344, + -298.08136156503076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 777.6529889015344, + -295.48328535367745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 779.1529889015344, + -292.88520914232413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 780.6529889015344, + -290.2871329309708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 782.1529889015344, + -287.6890567196175, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 782.1529889015344, + -287.6890567196175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 784.7510651128878, + -286.1890567196175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 787.3491413242411, + -284.6890567196175, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-20_824722490/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-20_824722490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a41fa6974a5369b30845b39d6d91390d8d0e7c41 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-20_824722490/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 919.3344120784949, + 381.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 916.7363358671416, + 382.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 914.1382596557883, + 384.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 911.5401834444349, + 385.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 908.9421072330815, + 387.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 906.3440310217281, + 388.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 903.7459548103748, + 390.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 901.1478785990214, + 391.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 898.549802387668, + 393.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 895.9517261763147, + 394.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 893.3536499649613, + 396.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 890.7555737536079, + 397.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 888.1574975422545, + 399.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 885.5594213309012, + 400.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 882.9613451195478, + 402.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 880.3632689081944, + 403.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 877.765192696841, + 405.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 875.1671164854877, + 406.64210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 872.5690402741343, + 408.14210945363305, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 872.5690402741343, + 408.14210945363305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 871.0690402741343, + 410.74018566498637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 869.5690402741343, + 413.3382618763397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 868.0690402741343, + 415.936338087693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 866.5690402741343, + 418.5344142990463, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 865.0690402741343, + 421.13249051039963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 863.5690402741343, + 423.73056672175295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 862.0690402741343, + 426.32864293310627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 860.5690402741343, + 428.9267191444596, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 859.0690402741343, + 431.5247953558129, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 857.5690402741343, + 434.1228715671662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 856.0690402741343, + 436.72094777851953, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-24-59_233233021/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-24-59_233233021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e0d093e62256e86846df17952a1c4eff08fd10 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-24-59_233233021/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 365.7782892582421, + -132.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 368.7782892582421, + -132.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.7782892582421, + -132.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.7782892582421, + -132.95089808500637, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 374.7782892582421, + -132.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.37636546959544, + -131.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.97444168094876, + -129.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.5725178923021, + -128.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 385.1705941036554, + -126.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 387.7686703150087, + -125.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.366746526362, + -123.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 392.96482273771534, + -122.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.56289894906865, + -120.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 398.16097516042197, + -119.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 400.7590513717753, + -117.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 403.3571275831286, + -116.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 405.9552037944819, + -114.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 408.55328000583523, + -113.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 411.15135621718855, + -111.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 413.74943242854187, + -110.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 416.3475086398952, + -108.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 418.9455848512485, + -107.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.5436610626018, + -105.95089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.14173727395513, + -104.45089808500637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 426.73981348530845, + -102.95089808500637, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-48_1104933720/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-48_1104933720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1329115e5f88dfc52289fdfac3769ad44554a128 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-48_1104933720/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 105.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 99.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 96.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 90.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 87.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 84.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 81.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 78.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 75.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 72.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 69.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 63.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 60.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 57.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 54.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 51.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 48.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 45.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 39.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 36.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 33.29545436602817, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 30.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 27.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 24.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 21.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 18.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 15.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 12.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 9.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 6.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3.295454366028167, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 0.2954543660281672, + 368.9303825466423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2.704545633971833, + 368.9303825466423, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-4_1714710647/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-4_1714710647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33ba7bf5f6c47c64318607cedf1a147dafb41818 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-4_1714710647/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 869.8315739908473, + -181.51487728915168, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 868.3315739908473, + -184.112953500505, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 866.8315739908473, + -186.71102971185832, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 865.3315739908473, + -189.30910592321163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 863.8315739908473, + -191.90718213456495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 862.3315739908473, + -194.50525834591826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 860.8315739908473, + -197.10333455727158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 859.3315739908473, + -199.7014107686249, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 857.8315739908473, + -202.2994869799782, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 856.3315739908473, + -204.89756319133153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 854.8315739908473, + -207.49563940268484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 853.3315739908473, + -210.09371561403816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 851.8315739908473, + -212.69179182539148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 850.3315739908473, + -215.2898680367448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 848.8315739908473, + -217.8879442480981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 847.3315739908473, + -220.48602045945142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 845.8315739908473, + -223.08409667080474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 844.3315739908473, + -225.68217288215806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 842.8315739908473, + -228.28024909351137, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 841.3315739908473, + -230.8783253048647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 839.8315739908473, + -233.476401516218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 838.3315739908473, + -236.07447772757132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 836.8315739908473, + -238.67255393892464, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 836.8315739908473, + -238.67255393892464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 834.233497779494, + -240.17255393892464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 831.6354215681406, + -241.67255393892464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 829.0373453567872, + -243.17255393892464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 826.4392691454339, + -244.67255393892464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 823.8411929340805, + -246.17255393892464, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-29-3_963964191/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-29-3_963964191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d3055b5b11213509711f200770568b758c2bcbd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-29-3_963964191/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -166.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -163.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -157.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -151.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -148.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -145.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -142.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -139.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -136.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -133.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -121.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -118.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -115.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -112.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -109.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -106.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -103.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -97.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -94.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -88.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -85.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -82.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -79.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -76.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -70.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -67.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -64.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -61.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -61.18505460071498, + 350.14884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -58.58697838936166, + 348.64884810584766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -55.988902178008345, + 347.14884810584766, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-35_284327308/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-35_284327308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f68b9e83143089a710425dac5f21ec7f785339f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-32-35_284327308/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1043.2801763607788, + -121.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1040.6821001494254, + -119.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1038.084023938072, + -118.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1035.4859477267187, + -116.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1032.8878715153653, + -115.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1030.289795304012, + -113.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1027.6917190926586, + -112.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1025.0936428813052, + -110.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1022.4955666699518, + -109.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1019.8974904585984, + -107.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1017.2994142472451, + -106.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1014.7013380358917, + -104.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1012.1032618245383, + -103.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1009.505185613185, + -101.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1006.9071094018316, + -100.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1004.3090331904782, + -98.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1001.7109569791248, + -97.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 999.1128807677715, + -95.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 996.5148045564181, + -94.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 993.9167283450647, + -92.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 991.3186521337113, + -91.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 988.720575922358, + -89.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 986.1224997110046, + -88.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 983.5244234996512, + -86.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 980.9263472882978, + -85.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 978.3282710769445, + -83.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 975.7301948655911, + -82.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 973.1321186542377, + -80.54767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 970.5340424428844, + -79.04767589166369, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 970.5340424428844, + -79.04767589166369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 969.0340424428844, + -76.44959968031037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 967.5340424428844, + -73.85152346895705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 966.0340424428844, + -71.25344725760374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 964.5340424428844, + -68.65537104625042, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 963.0340424428844, + -66.0572948348971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 961.5340424428844, + -63.45921862354379, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 960.0340424428844, + -60.861142412190475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 958.5340424428844, + -58.26306620083716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 957.0340424428844, + -55.66498998948384, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 955.5340424428844, + -53.06691377813053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 954.0340424428844, + -50.46883756677721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 952.5340424428844, + -47.870761355423895, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-7_384868448/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-7_384868448/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c95b5f5180a479392f480ff69f6d4b3500b5cdcb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-40-7_384868448/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1286.8709996881619, + 709.0103304087971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1285.3709996881619, + 711.6084066201504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1283.8709996881619, + 714.2064828315038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1282.3709996881619, + 716.8045590428571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1280.8709996881619, + 719.4026352542105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1279.3709996881619, + 722.0007114655639, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1277.8709996881619, + 724.5987876769173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1276.3709996881619, + 727.1968638882706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1274.8709996881619, + 729.794940099624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1273.3709996881619, + 732.3930163109774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1271.8709996881619, + 734.9910925223307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1270.3709996881619, + 737.5891687336841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1268.8709996881619, + 740.1872449450375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1267.3709996881619, + 742.7853211563909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1265.8709996881619, + 745.3833973677442, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1264.3709996881619, + 747.9814735790976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1262.8709996881619, + 750.579549790451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1261.3709996881619, + 753.1776260018044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1259.8709996881619, + 755.7757022131577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1258.3709996881619, + 758.3737784245111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1256.8709996881619, + 760.9718546358645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1255.3709996881619, + 763.5699308472178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1253.8709996881619, + 766.1680070585712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1252.3709996881619, + 768.7660832699246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1250.8709996881619, + 771.364159481278, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1249.3709996881619, + 773.9622356926313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1247.8709996881619, + 776.5603119039847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1246.3709996881619, + 779.1583881153381, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1244.8709996881619, + 781.7564643266915, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1243.3709996881619, + 784.3545405380448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1241.8709996881619, + 786.9526167493982, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1241.8709996881619, + 786.9526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1239.2729234768085, + 788.4526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1236.6748472654551, + 789.9526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1234.0767710541018, + 791.4526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1231.4786948427484, + 792.9526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1228.880618631395, + 794.4526167493982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1226.2825424200416, + 795.9526167493982, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-41-4_916768482/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-41-4_916768482/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..215cf19b5b008cb217683c6c5ae0b841f7b30e6a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-41-4_916768482/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 227.42982193198384, + 299.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.83174572063052, + 297.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 222.2336695092772, + 296.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 219.6355932979239, + 294.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 217.03751708657057, + 293.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 214.43944087521726, + 291.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 211.84136466386394, + 290.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 209.24328845251063, + 288.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.6452122411573, + 287.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 204.047136029804, + 285.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 201.44905981845068, + 284.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 198.85098360709736, + 282.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 196.25290739574405, + 281.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 193.65483118439073, + 279.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 191.0567549730374, + 278.36975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 188.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 188.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 185.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 182.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 179.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 176.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 173.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 170.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 167.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 164.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 161.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 158.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 155.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 152.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 149.4586787616841, + 276.86975466260105, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-43-9_318333694/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-43-9_318333694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab6ab7f62bf04b234b6d43f03863fc88271f1724 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-43-9_318333694/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1525.5314857140868, + -179.76025872698415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1527.0314857140868, + -177.16218251563083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1528.5314857140868, + -174.56410630427752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1530.0314857140868, + -171.9660300929242, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1531.5314857140868, + -169.36795388157088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1533.0314857140868, + -166.76987767021757, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1534.5314857140868, + -164.17180145886425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1536.0314857140868, + -161.57372524751094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1537.5314857140868, + -158.97564903615762, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1539.0314857140868, + -156.3775728248043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1540.5314857140868, + -153.779496613451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1542.0314857140868, + -151.18142040209767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1543.5314857140868, + -148.58334419074436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1545.0314857140868, + -145.98526797939104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1546.5314857140868, + -143.38719176803772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1548.0314857140868, + -140.7891155566844, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1549.5314857140868, + -138.1910393453311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1551.0314857140868, + -135.59296313397778, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1552.5314857140868, + -132.99488692262446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1554.0314857140868, + -130.39681071127114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1555.5314857140868, + -127.79873449991783, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1557.0314857140868, + -125.20065828856451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1558.5314857140868, + -122.6025820772112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1560.0314857140868, + -120.00450586585788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1561.5314857140868, + -117.40642965450456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1563.0314857140868, + -114.80835344315125, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1564.5314857140868, + -112.21027723179793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1566.0314857140868, + -109.61220102044462, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1566.0314857140868, + -109.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1568.6295619254402, + -108.11220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1571.2276381367935, + -106.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1573.825714348147, + -105.11220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1576.4237905595003, + -103.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1579.0218667708536, + -102.11220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1581.619942982207, + -100.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1584.2180191935604, + -99.11220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1586.8160954049138, + -97.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1589.4141716162671, + -96.11220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1592.0122478276205, + -94.61220102044462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1594.6103240389739, + -93.11220102044462, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-29_502390523/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-29_502390523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fc2c7dbe1c759bd1865ef2c76aee5a98448c3a2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-44-29_502390523/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1736.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1733.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1730.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1727.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1724.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1721.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1718.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1715.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1712.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1709.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1706.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1703.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1700.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1697.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1694.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1691.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1688.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1685.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1682.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1679.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1676.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1673.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1670.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1667.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1664.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1661.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1658.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1655.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1652.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1649.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1646.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1646.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1646.2803996090454, + -93.30648426469021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1644.7803996090454, + -90.7084080533369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1643.2803996090454, + -88.11033184198358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1641.7803996090454, + -85.51225563063026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1640.2803996090454, + -82.91417941927695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1638.7803996090454, + -80.31610320792363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1637.2803996090454, + -77.71802699657032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1635.7803996090454, + -75.119950785217, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-46_419481884/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-46_419481884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d19c2695c690b1119ade46f8e60c1b611594a183 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-46_419481884/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 180.49827912408506, + 280.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.49827912408506, + 277.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.49827912408506, + 274.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 180.49827912408506, + 271.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 180.49827912408506, + 268.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 180.49827912408506, + 265.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.49827912408506, + 262.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 180.49827912408506, + 259.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 180.49827912408506, + 256.7750427685951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 180.49827912408506, + 253.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 180.49827912408506, + 250.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 180.49827912408506, + 247.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 180.49827912408506, + 244.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 180.49827912408506, + 241.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 180.49827912408506, + 238.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 180.49827912408506, + 235.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 180.49827912408506, + 232.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 180.49827912408506, + 229.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 180.49827912408506, + 226.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 180.49827912408506, + 223.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 180.49827912408506, + 220.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 180.49827912408506, + 217.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 180.49827912408506, + 214.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 180.49827912408506, + 211.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 180.49827912408506, + 208.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 180.49827912408506, + 205.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 180.49827912408506, + 202.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 180.49827912408506, + 199.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 180.49827912408506, + 196.77504276859509, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 180.49827912408506, + 196.77504276859509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 181.99827912408506, + 194.17696655724177, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 183.49827912408506, + 191.57889034588845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 184.99827912408506, + 188.98081413453514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.49827912408506, + 186.38273792318182, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-47-7_138700754/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-47-7_138700754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8594f157cd32d72a287500ec5b6b4d784f73fc0f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-47-7_138700754/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.2207278126939, + 67.66093808425501, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.7207278126939, + 70.25901429560832, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 281.2207278126939, + 72.85709050696164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.7207278126939, + 75.45516671831496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.2207278126939, + 78.05324292966827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.7207278126939, + 80.65131914102159, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.2207278126939, + 83.2493953523749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 288.7207278126939, + 85.84747156372822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.2207278126939, + 88.44554777508154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 291.7207278126939, + 91.04362398643485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.2207278126939, + 93.64170019778817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.7207278126939, + 96.23977640914148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.2207278126939, + 98.8378526204948, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.7207278126939, + 101.43592883184812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 299.2207278126939, + 104.03400504320143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 300.7207278126939, + 106.63208125455475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 302.2207278126939, + 109.23015746590806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 303.7207278126939, + 111.82823367726138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 305.2207278126939, + 114.4263098886147, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 305.2207278126939, + 114.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 307.8188040240472, + 115.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 310.4168802354005, + 117.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 313.01495644675384, + 118.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 315.61303265810716, + 120.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 318.2111088694605, + 121.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 320.8091850808138, + 123.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.4072612921671, + 124.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.0053375035204, + 126.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.60341371487374, + 127.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 331.20148992622705, + 129.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 333.79956613758037, + 130.9263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 336.3976423489337, + 132.4263098886147, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 336.3976423489337, + 132.4263098886147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 337.8976423489337, + 135.024386099968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 339.3976423489337, + 137.62246231132133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 340.8976423489337, + 140.22053852267464, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-5-22_1184622626/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-5-22_1184622626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c09db1f4d1c1dc2efa399408b9ed973ba405d8d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-5-22_1184622626/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1984.8930820166302, + -14.157578905992509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1986.3930820166302, + -11.559502694639193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1987.8930820166302, + -8.961426483285877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1989.3930820166302, + -6.3633502719325605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1990.8930820166302, + -3.7652740605792445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1992.3930820166302, + -1.1671978492259285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1993.8930820166302, + 1.4308783621273875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1995.3930820166302, + 4.0289545734807035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1996.8930820166302, + 6.6270307848340195, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1996.8930820166302, + 6.6270307848340195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1996.8930820166302, + 9.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1996.8930820166302, + 12.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1996.8930820166302, + 15.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1996.8930820166302, + 18.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1996.8930820166302, + 21.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1996.8930820166302, + 24.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1996.8930820166302, + 27.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1996.8930820166302, + 30.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1996.8930820166302, + 33.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1996.8930820166302, + 36.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1996.8930820166302, + 39.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1996.8930820166302, + 42.62703078483402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1996.8930820166302, + 45.62703078483402, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-59_35005211/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-59_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c53a07df4ebb1c7ff2e4b1df0d91ac43051038e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-59_35005211/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1907.3648956624163, + 585.5469001197009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1908.8648956624163, + 588.1449763310543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1910.3648956624163, + 590.7430525424077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1911.8648956624163, + 593.341128753761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1913.3648956624163, + 595.9392049651144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1914.8648956624163, + 598.5372811764678, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1916.3648956624163, + 601.1353573878212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1917.8648956624163, + 603.7334335991745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1919.3648956624163, + 606.3315098105279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1920.8648956624163, + 608.9295860218813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1922.3648956624163, + 611.5276622332347, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1923.8648956624163, + 614.125738444588, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1925.3648956624163, + 616.7238146559414, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1926.8648956624163, + 619.3218908672948, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1928.3648956624163, + 621.9199670786481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1929.8648956624163, + 624.5180432900015, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1929.8648956624163, + 624.5180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1932.4629718737697, + 626.0180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1935.061048085123, + 627.5180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1937.6591242964764, + 629.0180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1940.2572005078298, + 630.5180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1942.8552767191832, + 632.0180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1945.4533529305365, + 633.5180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1948.05142914189, + 635.0180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1950.6495053532433, + 636.5180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1953.2475815645967, + 638.0180432900015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1955.84565777595, + 639.5180432900015, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-58-54_1726956429/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-58-54_1726956429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f0250cc7f8bd727a0632d53a64b870953636bd8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-58-54_1726956429/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1861.1200100362048, + 222.42182944269203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1862.6200100362048, + 225.01990565404535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1864.1200100362048, + 227.61798186539866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1865.6200100362048, + 230.21605807675198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1867.1200100362048, + 232.8141342881053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1868.6200100362048, + 235.4122104994586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1870.1200100362048, + 238.01028671081193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1871.6200100362048, + 240.60836292216524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1873.1200100362048, + 243.20643913351856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1874.6200100362048, + 245.80451534487187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1876.1200100362048, + 248.4025915562252, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1877.6200100362048, + 251.0006677675785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1879.1200100362048, + 253.59874397893182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1880.6200100362048, + 256.19682019028517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1882.1200100362048, + 258.7948964016385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1883.6200100362048, + 261.3929726129918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1885.1200100362048, + 263.9910488243451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1886.6200100362048, + 266.58912503569843, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1888.1200100362048, + 269.18720124705175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1889.6200100362048, + 271.78527745840506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1891.1200100362048, + 274.3833536697584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1892.6200100362048, + 276.9814298811117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1894.1200100362048, + 279.579506092465, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1895.6200100362048, + 282.1775823038183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1897.1200100362048, + 284.77565851517164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1898.6200100362048, + 287.37373472652496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1900.1200100362048, + 289.9718109378783, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1901.6200100362048, + 292.5698871492316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1903.1200100362048, + 295.1679633605849, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1904.6200100362048, + 297.7660395719382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1906.1200100362048, + 300.36411578329154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1907.6200100362048, + 302.96219199464485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1909.1200100362048, + 305.56026820599817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1910.6200100362048, + 308.1583444173515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1912.1200100362048, + 310.7564206287048, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1912.1200100362048, + 310.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1912.1200100362048, + 313.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1912.1200100362048, + 316.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1912.1200100362048, + 319.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1912.1200100362048, + 322.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1912.1200100362048, + 325.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1912.1200100362048, + 328.7564206287048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1912.1200100362048, + 331.7564206287048, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-59-41_861021530/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-59-41_861021530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6a73dca664014822e9a446dae2be09b862ccec6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-59-41_861021530/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1527.0506416155013, + 621.9208178878445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1528.5506416155013, + 624.5188940991977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1530.0506416155013, + 627.1169703105511, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1531.5506416155013, + 629.7150465219045, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1533.0506416155013, + 632.3131227332578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1534.5506416155013, + 634.9111989446112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1536.0506416155013, + 637.5092751559646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1537.5506416155013, + 640.107351367318, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1537.5506416155013, + 640.107351367318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1540.1487178268546, + 641.607351367318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1542.746794038208, + 643.107351367318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1545.3448702495614, + 644.607351367318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1547.9429464609148, + 646.107351367318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1550.5410226722681, + 647.607351367318, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-12-24_1159126505/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-12-24_1159126505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..235af96631fc5906e6a5aec8000c39c07da181d2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-12-24_1159126505/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1985.1034798392882, + -174.16908918996413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1983.6034798392882, + -171.5710129786108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1982.1034798392882, + -168.9729367672575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1980.6034798392882, + -166.37486055590418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1979.1034798392882, + -163.77678434455086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1977.6034798392882, + -161.17870813319755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1976.1034798392882, + -158.58063192184423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1974.6034798392882, + -155.9825557104909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1973.1034798392882, + -153.3844794991376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1971.6034798392882, + -150.78640328778428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1970.1034798392882, + -148.18832707643097, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1968.6034798392882, + -145.59025086507765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1967.1034798392882, + -142.99217465372433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1965.6034798392882, + -140.39409844237102, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1964.1034798392882, + -137.7960222310177, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1962.6034798392882, + -135.19794601966439, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1961.1034798392882, + -132.59986980831107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1959.6034798392882, + -130.00179359695775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1958.1034798392882, + -127.40371738560444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1956.6034798392882, + -124.80564117425112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1955.1034798392882, + -122.2075649628978, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1953.6034798392882, + -119.60948875154449, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1952.1034798392882, + -117.01141254019117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1950.6034798392882, + -114.41333632883786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1949.1034798392882, + -111.81526011748454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1947.6034798392882, + -109.21718390613123, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1947.6034798392882, + -109.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1947.6034798392882, + -106.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1947.6034798392882, + -103.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1947.6034798392882, + -100.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1947.6034798392882, + -97.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1947.6034798392882, + -94.21718390613123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1947.6034798392882, + -91.21718390613123, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-16-2_610515434/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-16-2_610515434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bdddfd36204f6daf40929d4cbf2c06407589377 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-16-2_610515434/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 655.2281100427147, + 174.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 652.6300338313613, + 172.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 650.0319576200079, + 171.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 647.4338814086545, + 169.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 644.8358051973012, + 168.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 642.2377289859478, + 166.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 639.6396527745944, + 165.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.041576563241, + 163.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 634.4435003518877, + 162.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 631.8454241405343, + 160.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 629.2473479291809, + 159.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 626.6492717178276, + 157.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 624.0511955064742, + 156.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 621.4531192951208, + 154.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 618.8550430837674, + 153.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 616.2569668724141, + 151.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 613.6588906610607, + 150.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 611.0608144497073, + 148.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 608.462738238354, + 147.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 605.8646620270006, + 145.52378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 603.2665858156472, + 144.02378599469603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 600.6685096042938, + 142.52378599469603, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-34-22_1703964683/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-34-22_1703964683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..419cb7c80961987d7ad90bc872c08a8f23f4a583 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-34-22_1703964683/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1057.0488251428874, + -185.25321707971375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1058.5488251428874, + -187.85129329106707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1060.0488251428874, + -190.44936950242038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1061.5488251428874, + -193.0474457137737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1063.0488251428874, + -195.645521925127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1064.5488251428874, + -198.24359813648033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1066.0488251428874, + -200.84167434783365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1067.5488251428874, + -203.43975055918696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1069.0488251428874, + -206.03782677054028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1070.5488251428874, + -208.6359029818936, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1072.0488251428874, + -211.2339791932469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1073.5488251428874, + -213.83205540460023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1075.0488251428874, + -216.43013161595354, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1075.0488251428874, + -216.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1077.6469013542408, + -217.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1080.2449775655941, + -219.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1082.8430537769475, + -220.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1085.4411299883009, + -222.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1088.0392061996542, + -223.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1090.6372824110076, + -225.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1093.235358622361, + -226.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1095.8334348337144, + -228.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1098.4315110450677, + -229.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1101.029587256421, + -231.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1103.6276634677745, + -232.93013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1106.2257396791279, + -234.43013161595354, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1106.2257396791279, + -234.43013161595354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1107.7257396791279, + -237.02820782730686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1109.2257396791279, + -239.62628403866017, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1110.7257396791279, + -242.2243602500135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1112.2257396791279, + -244.8224364613668, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1113.7257396791279, + -247.42051267272012, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1115.2257396791279, + -250.01858888407344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1116.7257396791279, + -252.61666509542675, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-36-2_112805732/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-36-2_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec6c7fe24284321f0f3dafd0f6c77b6746ad2dd3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-36-2_112805732/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 614.0147368666062, + -10.288705362353014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 612.5147368666062, + -12.88678157370633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 611.0147368666062, + -15.484857785059646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 609.5147368666062, + -18.08293399641296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 608.0147368666062, + -20.681010207766278, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 606.5147368666062, + -23.279086419119594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 605.0147368666062, + -25.87716263047291, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 603.5147368666062, + -28.475238841826226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 602.0147368666062, + -31.07331505317954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 600.5147368666062, + -33.67139126453286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 599.0147368666062, + -36.269467475886174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.5147368666062, + -38.86754368723949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 596.0147368666062, + -41.465619898592806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 594.5147368666062, + -44.06369610994612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 593.0147368666062, + -46.66177232129944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 591.5147368666062, + -49.259848532652754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 590.0147368666062, + -51.85792474400607, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 588.5147368666062, + -54.456000955359386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 587.0147368666062, + -57.0540771667127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 585.5147368666062, + -59.65215337806602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.0147368666062, + -62.250229589419334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 582.5147368666062, + -64.84830580077265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 581.0147368666062, + -67.44638201212597, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 579.5147368666062, + -70.04445822347928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 578.0147368666062, + -72.6425344348326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 576.5147368666062, + -75.24061064618591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 575.0147368666062, + -77.83868685753923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 573.5147368666062, + -80.43676306889255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 572.0147368666062, + -83.03483928024586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 570.5147368666062, + -85.63291549159918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 569.0147368666062, + -88.2309917029525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 567.5147368666062, + -90.82906791430581, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 566.0147368666062, + -93.42714412565913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 564.5147368666062, + -96.02522033701244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 563.0147368666062, + -98.62329654836576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 561.5147368666062, + -101.22137275971907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 560.0147368666062, + -103.81944897107239, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-55-52_1067854538/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-55-52_1067854538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6894f3ea3c0c9cd8446c5ecf22bc939629349d14 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-55-52_1067854538/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 281.61075420050946, + 75.4437698288174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.11075420050946, + 78.04184604017071, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.61075420050946, + 80.63992225152403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 286.11075420050946, + 83.23799846287734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 287.61075420050946, + 85.83607467423066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 289.11075420050946, + 88.43415088558397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 290.61075420050946, + 91.03222709693729, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 292.11075420050946, + 93.6303033082906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 293.61075420050946, + 96.22837951964392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.11075420050946, + 98.82645573099724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 296.61075420050946, + 101.42453194235055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.11075420050946, + 104.02260815370387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 299.61075420050946, + 106.62068436505719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 301.11075420050946, + 109.2187605764105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 302.61075420050946, + 111.81683678776382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 304.11075420050946, + 114.41491299911713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 305.61075420050946, + 117.01298921047045, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 307.11075420050946, + 119.61106542182377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 308.61075420050946, + 122.20914163317708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.11075420050946, + 124.8072178445304, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 310.11075420050946, + 124.8072178445304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.7088304118628, + 126.3072178445304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 315.3069066232161, + 127.8072178445304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.9049828345694, + 129.30721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 320.5030590459227, + 130.80721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 323.10113525727604, + 132.30721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 325.69921146862936, + 133.80721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 328.2972876799827, + 135.30721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 330.895363891336, + 136.80721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 333.4934401026893, + 138.30721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.0915163140426, + 139.80721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 338.68959252539594, + 141.30721784453038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 341.28766873674925, + 142.80721784453038, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-35_532670688/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-35_532670688/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c42e2994a3ee1df2580dafa285503456b0f5da12 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-57-35_532670688/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1528.3477766104447, + 49.32975696113664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1529.8477766104447, + 46.73168074978332, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1531.3477766104447, + 44.133604538430006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1532.8477766104447, + 41.53552832707669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1534.3477766104447, + 38.937452115723374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1535.8477766104447, + 36.33937590437006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1537.3477766104447, + 33.74129969301674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1538.8477766104447, + 31.143223481663426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1540.3477766104447, + 28.54514727031011, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.8477766104447, + 25.947071058956794, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1543.3477766104447, + 23.34899484760348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1544.8477766104447, + 20.750918636250162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1546.3477766104447, + 18.152842424896846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1547.8477766104447, + 15.55476621354353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1549.3477766104447, + 12.956690002190214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1550.8477766104447, + 10.358613790836898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1552.3477766104447, + 7.760537579483582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1553.8477766104447, + 5.162461368130266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1555.3477766104447, + 2.5643851567769502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1556.8477766104447, + -0.033691054576365786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1558.3477766104447, + -2.631767265929682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1559.8477766104447, + -5.229843477282998, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1561.3477766104447, + -7.827919688636314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1562.8477766104447, + -10.42599589998963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1564.3477766104447, + -13.024072111342946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1565.8477766104447, + -15.622148322696262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1567.3477766104447, + -18.220224534049578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1568.8477766104447, + -20.818300745402894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1570.3477766104447, + -23.41637695675621, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1571.8477766104447, + -26.014453168109526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1573.3477766104447, + -28.612529379462842, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1574.8477766104447, + -31.210605590816158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1576.3477766104447, + -33.808681802169474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1577.8477766104447, + -36.40675801352279, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1577.8477766104447, + -36.40675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1580.445852821798, + -37.90675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1583.0439290331515, + -39.40675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1585.6420052445048, + -40.90675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1588.2400814558582, + -42.40675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1590.8381576672116, + -43.90675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1593.436233878565, + -45.40675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1596.0343100899183, + -46.90675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1598.6323863012717, + -48.40675801352279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1601.230462512625, + -49.90675801352279, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-6-2_608413784/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-6-2_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0aa922127fcfd573371caeae333c1fefb1897e0d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-6-2_608413784/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 512.7273881965828, + -9.194791826364451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 514.2273881965828, + -6.596715615011135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 515.7273881965828, + -3.998639403657819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 517.2273881965828, + -1.400563192304503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 518.7273881965828, + 1.197513019048813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 520.2273881965828, + 3.795589230402129, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 521.7273881965828, + 6.393665441755445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 523.2273881965828, + 8.991741653108761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.7273881965828, + 11.589817864462077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 526.2273881965828, + 14.187894075815393, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 527.7273881965828, + 16.78597028716871, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 529.2273881965828, + 19.384046498522025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 530.7273881965828, + 21.98212270987534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 532.2273881965828, + 24.580198921228657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 533.7273881965828, + 27.178275132581973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 535.2273881965828, + 29.77635134393529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 536.7273881965828, + 32.374427555288605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 538.2273881965828, + 34.97250376664192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 539.7273881965828, + 37.57057997799524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 541.2273881965828, + 40.16865618934855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 542.7273881965828, + 42.76673240070187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 544.2273881965828, + 45.364808612055185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 545.7273881965828, + 47.9628848234085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 547.2273881965828, + 50.56096103476182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 548.7273881965828, + 53.15903724611513, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 550.2273881965828, + 55.75711345746845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 551.7273881965828, + 58.355189668821765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 553.2273881965828, + 60.95326588017508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 554.7273881965828, + 63.5513420915284, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 554.7273881965828, + 63.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 554.7273881965828, + 66.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 554.7273881965828, + 69.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 554.7273881965828, + 72.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 554.7273881965828, + 75.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 554.7273881965828, + 78.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 554.7273881965828, + 81.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 554.7273881965828, + 84.5513420915284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 554.7273881965828, + 87.5513420915284, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-7-1_1973594324/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-7-1_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c20f4d8e525e05ad80e4490664d9b99e2114671 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-7-1_1973594324/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 267.10341945126765, + 245.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 264.50534323991434, + 244.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.907267028561, + 242.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.3091908172077, + 241.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 256.7111146058544, + 239.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 254.11303839450107, + 238.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 251.51496218314776, + 236.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 248.91688597179444, + 235.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 246.31880976044113, + 233.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 243.7207335490878, + 232.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 241.1226573377345, + 230.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 238.52458112638118, + 229.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 235.92650491502786, + 227.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 233.32842870367455, + 226.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 230.73035249232123, + 224.6423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 228.13227628096791, + 223.1423928299065, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 228.13227628096791, + 223.1423928299065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 226.63227628096791, + 220.54431661855318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.13227628096791, + 217.94624040719987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 223.63227628096791, + 215.34816419584655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.13227628096791, + 212.75008798449323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 220.63227628096791, + 210.15201177313992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 219.13227628096791, + 207.5539355617866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 217.63227628096791, + 204.9558593504333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 216.13227628096791, + 202.35778313907997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 214.63227628096791, + 199.75970692772665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 213.13227628096791, + 197.16163071637334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 211.63227628096791, + 194.56355450502002, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 210.13227628096791, + 191.9654782936667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 208.63227628096791, + 189.3674020823134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 207.13227628096791, + 186.76932587096007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 205.63227628096791, + 184.17124965960676, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-32_137806862/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-32_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8558168d5e6cb4117605660bfe2d1b378aab7c76 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-32_137806862/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1162.5527635735582, + -129.94918772841464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1159.9546873622048, + -131.44918772841464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1157.3566111508514, + -132.94918772841464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1154.758534939498, + -134.44918772841464, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1154.758534939498, + -134.44918772841464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1153.258534939498, + -137.04726393976796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1151.758534939498, + -139.64534015112127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1150.258534939498, + -142.2434163624746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1148.758534939498, + -144.8414925738279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1147.258534939498, + -147.43956878518122, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1145.758534939498, + -150.03764499653454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1144.258534939498, + -152.63572120788785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1142.758534939498, + -155.23379741924117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1141.258534939498, + -157.8318736305945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1139.758534939498, + -160.4299498419478, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1139.758534939498, + -160.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1139.758534939498, + -163.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1139.758534939498, + -166.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1139.758534939498, + -169.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1139.758534939498, + -172.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1139.758534939498, + -175.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1139.758534939498, + -178.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1139.758534939498, + -181.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1139.758534939498, + -184.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1139.758534939498, + -187.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1139.758534939498, + -190.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1139.758534939498, + -193.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1139.758534939498, + -196.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1139.758534939498, + -199.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1139.758534939498, + -202.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1139.758534939498, + -205.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1139.758534939498, + -208.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1139.758534939498, + -211.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1139.758534939498, + -214.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1139.758534939498, + -217.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1139.758534939498, + -220.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1139.758534939498, + -223.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1139.758534939498, + -226.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1139.758534939498, + -229.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1139.758534939498, + -232.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1139.758534939498, + -235.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1139.758534939498, + -238.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1139.758534939498, + -241.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1139.758534939498, + -244.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1139.758534939498, + -247.4299498419478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1139.758534939498, + -250.4299498419478, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-55_42999170/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-55_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..476dd45d0adef3b04085aa1e4763dc0843d0f7ba --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-9-55_42999170/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1919.2268536671722, + 562.843625125306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1920.7268536671722, + 565.4417013366592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1922.2268536671722, + 568.0397775480126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1923.7268536671722, + 570.637853759366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1925.2268536671722, + 573.2359299707193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1926.7268536671722, + 575.8340061820727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1928.2268536671722, + 578.4320823934261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1929.7268536671722, + 581.0301586047794, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1931.2268536671722, + 583.6282348161328, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1932.7268536671722, + 586.2263110274862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1934.2268536671722, + 588.8243872388396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1935.7268536671722, + 591.4224634501929, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1937.2268536671722, + 594.0205396615463, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1938.7268536671722, + 596.6186158728997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1940.2268536671722, + 599.216692084253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1941.7268536671722, + 601.8147682956064, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1943.2268536671722, + 604.4128445069598, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1944.7268536671722, + 607.0109207183132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1946.2268536671722, + 609.6089969296665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1947.7268536671722, + 612.2070731410199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1949.2268536671722, + 614.8051493523733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1950.7268536671722, + 617.4032255637267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1952.2268536671722, + 620.00130177508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1953.7268536671722, + 622.5993779864334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1955.2268536671722, + 625.1974541977868, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1956.7268536671722, + 627.7955304091402, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-6_159259470/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-6_159259470/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02134b5b281c86a7de67a00eea0681db5216f686 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-6_159259470/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1967.4378220631793, + -16.039265803007538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1968.9378220631793, + -13.441189591654222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1970.4378220631793, + -10.843113380300906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1971.9378220631793, + -8.24503716894759, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1973.4378220631793, + -5.646960957594274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1974.9378220631793, + -3.048884746240958, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1976.4378220631793, + -0.45080853488764205, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1977.9378220631793, + 2.147267676465674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1979.4378220631793, + 4.74534388781899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1980.9378220631793, + 7.343420099172306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1982.4378220631793, + 9.941496310525622, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1983.9378220631793, + 12.539572521878938, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1985.4378220631793, + 15.137648733232254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1986.9378220631793, + 17.73572494458557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1988.4378220631793, + 20.333801155938886, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1989.9378220631793, + 22.931877367292202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1991.4378220631793, + 25.529953578645518, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1992.9378220631793, + 28.128029789998834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1994.4378220631793, + 30.72610600135215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1995.9378220631793, + 33.324182212705466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1997.4378220631793, + 35.92225842405878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1998.9378220631793, + 38.5203346354121, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1998.9378220631793, + 38.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1998.9378220631793, + 41.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1998.9378220631793, + 44.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1998.9378220631793, + 47.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1998.9378220631793, + 50.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1998.9378220631793, + 53.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1998.9378220631793, + 56.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1998.9378220631793, + 59.5203346354121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1998.9378220631793, + 62.5203346354121, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-10-50_396473730/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-10-50_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a0ae5ef04705559697a4c2febe5be47a9161759 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-10-50_396473730/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 669.0082162443356, + -193.93483672042856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 670.5082162443356, + -191.33676050907525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 672.0082162443356, + -188.73868429772193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 673.5082162443356, + -186.14060808636862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 675.0082162443356, + -183.5425318750153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 676.5082162443356, + -180.94445566366198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 678.0082162443356, + -178.34637945230867, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 679.5082162443356, + -175.74830324095535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 681.0082162443356, + -173.15022702960204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 682.5082162443356, + -170.55215081824872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 684.0082162443356, + -167.9540746068954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 685.5082162443356, + -165.3559983955421, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 687.0082162443356, + -162.75792218418877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 688.5082162443356, + -160.15984597283546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 690.0082162443356, + -157.56176976148214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 691.5082162443356, + -154.96369355012882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 693.0082162443356, + -152.3656173387755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 694.5082162443356, + -149.7675411274222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 696.0082162443356, + -147.16946491606888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 697.5082162443356, + -144.57138870471556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 699.0082162443356, + -141.97331249336224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 700.5082162443356, + -139.37523628200893, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 700.5082162443356, + -139.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 700.5082162443356, + -136.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 700.5082162443356, + -133.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 700.5082162443356, + -130.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 700.5082162443356, + -127.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 700.5082162443356, + -124.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 700.5082162443356, + -121.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 700.5082162443356, + -118.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 700.5082162443356, + -115.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 700.5082162443356, + -112.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 700.5082162443356, + -109.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 700.5082162443356, + -106.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 700.5082162443356, + -103.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 700.5082162443356, + -100.37523628200893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 700.5082162443356, + -97.37523628200893, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-30_1346811305/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-30_1346811305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2898f2ab945fdef9f63956bf9429a88bfc47bb41 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-11-30_1346811305/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 805.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 808.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 811.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 814.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 817.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 820.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 823.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 826.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 829.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 832.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 835.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 838.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 841.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 844.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 847.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 850.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 853.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 856.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 859.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 862.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 865.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 868.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 871.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 874.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 874.0372992134211, + -8.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 876.6353754247743, + -9.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 879.2334516361277, + -11.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 881.8315278474811, + -12.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 884.4296040588345, + -14.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 887.0276802701878, + -15.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 889.6257564815412, + -17.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 892.2238326928946, + -18.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 894.821908904248, + -20.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 897.4199851156013, + -21.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 900.0180613269547, + -23.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 902.6161375383081, + -24.640045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 905.2142137496614, + -26.140045682205606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 907.8122899610148, + -27.640045682205606, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-26-51_1237379107/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-26-51_1237379107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9041295f99cc81cb88969b1c736cd0e3bdb89d46 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-26-51_1237379107/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1932.8268823390215, + 205.60225740293515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1934.3268823390215, + 208.20033361428847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1935.8268823390215, + 210.79840982564178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1937.3268823390215, + 213.3964860369951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1938.8268823390215, + 215.99456224834842, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1940.3268823390215, + 218.59263845970173, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1941.8268823390215, + 221.19071467105505, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1943.3268823390215, + 223.78879088240836, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1944.8268823390215, + 226.38686709376168, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1946.3268823390215, + 228.984943305115, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1947.8268823390215, + 231.5830195164683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1949.3268823390215, + 234.18109572782163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1950.8268823390215, + 236.77917193917494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1952.3268823390215, + 239.37724815052826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1953.8268823390215, + 241.97532436188158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1955.3268823390215, + 244.5734005732349, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1956.8268823390215, + 247.1714767845882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1958.3268823390215, + 249.76955299594152, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1958.3268823390215, + 249.76955299594152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1958.3268823390215, + 252.76955299594152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1958.3268823390215, + 255.76955299594152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1958.3268823390215, + 258.7695529959415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1958.3268823390215, + 261.7695529959415, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-12_1950955939/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-12_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90b6b5325e946fba4a2d1316f489e8cb828282d8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-12_1950955939/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1530.060233865098, + -287.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1530.060233865098, + -284.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1530.060233865098, + -281.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1530.060233865098, + -278.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1530.060233865098, + -275.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1530.060233865098, + -272.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1530.060233865098, + -269.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1530.060233865098, + -266.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1530.060233865098, + -263.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1530.060233865098, + -260.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1530.060233865098, + -257.8256908808818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1530.060233865098, + -254.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1530.060233865098, + -251.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1530.060233865098, + -248.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1530.060233865098, + -245.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1530.060233865098, + -242.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1530.060233865098, + -239.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1530.060233865098, + -236.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1530.060233865098, + -233.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1530.060233865098, + -230.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1530.060233865098, + -227.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1530.060233865098, + -224.82569088088178, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1530.060233865098, + -224.82569088088178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1531.560233865098, + -222.22761466952846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1533.060233865098, + -219.62953845817515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1534.560233865098, + -217.03146224682183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1536.060233865098, + -214.43338603546852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1537.560233865098, + -211.8353098241152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1539.060233865098, + -209.23723361276188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1540.560233865098, + -206.63915740140857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1542.060233865098, + -204.04108119005525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1543.560233865098, + -201.44300497870194, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1543.560233865098, + -201.44300497870194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1543.560233865098, + -198.44300497870194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1543.560233865098, + -195.44300497870194, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-31_1335939811/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-31_1335939811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7f89d08df32ec93da2792300dc765ed5dd095e0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-34-31_1335939811/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1912.2959191176033, + -192.85562526521187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1913.7959191176033, + -190.25754905385855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1915.2959191176033, + -187.65947284250524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1916.7959191176033, + -185.06139663115192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1918.2959191176033, + -182.4633204197986, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1919.7959191176033, + -179.8652442084453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1921.2959191176033, + -177.26716799709197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1922.7959191176033, + -174.66909178573866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1924.2959191176033, + -172.07101557438534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1925.7959191176033, + -169.47293936303203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1927.2959191176033, + -166.8748631516787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1928.7959191176033, + -164.2767869403254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1930.2959191176033, + -161.67871072897208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1931.7959191176033, + -159.08063451761876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1933.2959191176033, + -156.48255830626545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1934.7959191176033, + -153.88448209491213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1936.2959191176033, + -151.2864058835588, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1937.7959191176033, + -148.6883296722055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1939.2959191176033, + -146.09025346085218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1940.7959191176033, + -143.49217724949887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1942.2959191176033, + -140.89410103814555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1943.7959191176033, + -138.29602482679223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1945.2959191176033, + -135.69794861543892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1946.7959191176033, + -133.0998724040856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1948.2959191176033, + -130.5017961927323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1949.7959191176033, + -127.90371998137897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1951.2959191176033, + -125.30564377002565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1952.7959191176033, + -122.70756755867234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1954.2959191176033, + -120.10949134731902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1955.7959191176033, + -117.5114151359657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1957.2959191176033, + -114.91333892461239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1958.7959191176033, + -112.31526271325907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1960.2959191176033, + -109.71718650190576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1961.7959191176033, + -107.11911029055244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1963.2959191176033, + -104.52103407919913, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1963.2959191176033, + -104.52103407919913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1963.2959191176033, + -101.52103407919913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1963.2959191176033, + -98.52103407919913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1963.2959191176033, + -95.52103407919913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1963.2959191176033, + -92.52103407919913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1963.2959191176033, + -89.52103407919913, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-39-12_195740084/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-39-12_195740084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..264f6a0dd8af95f1007150ad41679eb9f2f33986 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-39-12_195740084/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1409.1521359846618, + -141.19959487575875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1410.6521359846618, + -138.60151866440543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1412.1521359846618, + -136.00344245305212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1413.6521359846618, + -133.4053662416988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1415.1521359846618, + -130.80729003034548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1416.6521359846618, + -128.20921381899217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1418.1521359846618, + -125.61113760763885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1419.6521359846618, + -123.01306139628554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1421.1521359846618, + -120.41498518493222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1422.6521359846618, + -117.8169089735789, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1424.1521359846618, + -115.21883276222559, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1424.1521359846618, + -115.21883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1426.7502121960151, + -113.71883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1429.3482884073685, + -112.21883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1431.9463646187219, + -110.71883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1434.5444408300752, + -109.21883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1437.1425170414286, + -107.71883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1439.740593252782, + -106.21883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1442.3386694641354, + -104.71883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1444.9367456754887, + -103.21883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1447.534821886842, + -101.71883276222559, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1447.534821886842, + -101.71883276222559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1449.034821886842, + -99.12075655087227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1450.534821886842, + -96.52268033951896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1452.034821886842, + -93.92460412816564, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-43-59_1782280524/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-43-59_1782280524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..351d93655e80610a2465adf59eef2e17f896a523 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-43-59_1782280524/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1896.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1899.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1902.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1905.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1908.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1911.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1914.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1917.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1920.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1920.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1920.67721219935, + -13.111370980582926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1922.17721219935, + -10.51329476922961, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1923.67721219935, + -7.915218557876294, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1923.67721219935, + -7.915218557876294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1926.2752884107033, + -6.415218557876294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1928.8733646220567, + -4.915218557876294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1931.47144083341, + -3.415218557876294, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1934.0695170447634, + -1.9152185578762941, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1936.6675932561168, + -0.41521855787629436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1939.2656694674702, + 1.0847814421237054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1941.8637456788235, + 2.584781442123705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1944.461821890177, + 4.084781442123705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1947.0598981015303, + 5.584781442123705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1949.6579743128837, + 7.084781442123705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1952.256050524237, + 8.584781442123704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1954.8541267355904, + 10.084781442123704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1957.4522029469438, + 11.584781442123704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1960.0502791582971, + 13.084781442123704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1962.6483553696505, + 14.584781442123704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1965.246431581004, + 16.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982888 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1967.8445077923573, + 17.584781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1970.4425840037106, + 19.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1973.040660215064, + 20.584781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1975.6387364264174, + 22.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1978.2368126377708, + 23.584781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1980.8348888491241, + 25.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1983.4329650604775, + 26.584781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1986.0310412718309, + 28.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1988.6291174831842, + 29.584781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1991.2271936945376, + 31.084781442123703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1993.825269905891, + 32.5847814421237, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982884 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1996.4233461172444, + 34.0847814421237, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982884 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-53-33_282828202/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-53-33_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4ec39f348a5cbecbede3220f4a33f7b98bb08fa --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-53-33_282828202/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1476.5297445010353, + -265.88802524450466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1478.0297445010353, + -263.28994903315134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1479.5297445010353, + -260.69187282179803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1481.0297445010353, + -258.0937966104447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1482.5297445010353, + -255.4957203990914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1484.0297445010353, + -252.89764418773808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.5297445010353, + -250.29956797638476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1487.0297445010353, + -247.70149176503145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.5297445010353, + -245.10341555367813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1490.0297445010353, + -242.50533934232482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1491.5297445010353, + -239.9072631309715, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1493.0297445010353, + -237.30918691961818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1494.5297445010353, + -234.71111070826487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1496.0297445010353, + -232.11303449691155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1497.5297445010353, + -229.51495828555824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1499.0297445010353, + -226.91688207420492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1500.5297445010353, + -224.3188058628516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1502.0297445010353, + -221.7207296514983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1503.5297445010353, + -219.12265344014497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1505.0297445010353, + -216.52457722879166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1506.5297445010353, + -213.92650101743834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1508.0297445010353, + -211.32842480608502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1509.5297445010353, + -208.7303485947317, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1509.5297445010353, + -208.7303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1512.1278207123887, + -207.2303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1514.725896923742, + -205.7303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1517.3239731350955, + -204.2303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1519.9220493464488, + -202.7303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1522.5201255578022, + -201.2303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1525.1182017691556, + -199.7303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1527.716277980509, + -198.2303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1530.3143541918623, + -196.7303485947317, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1530.3143541918623, + -196.7303485947317, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1530.3143541918623, + -196.7303485947317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1530.3143541918623, + -193.7303485947317, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.570796326794887 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-55-19_950390868/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-55-19_950390868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..508ebe1ad81c9d10e64db8577e6545ce598a5e5d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-55-19_950390868/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -47.791446066839185, + 231.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -47.791446066839185, + 234.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -47.791446066839185, + 237.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -47.791446066839185, + 240.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.791446066839185, + 243.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -47.791446066839185, + 246.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -47.791446066839185, + 249.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -47.791446066839185, + 252.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -47.791446066839185, + 255.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -47.791446066839185, + 258.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -47.791446066839185, + 261.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -47.791446066839185, + 264.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -47.791446066839185, + 267.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -47.791446066839185, + 270.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.791446066839185, + 273.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -47.791446066839185, + 276.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -47.791446066839185, + 279.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -47.791446066839185, + 282.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -47.791446066839185, + 285.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -47.791446066839185, + 288.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -47.791446066839185, + 291.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -47.791446066839185, + 294.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -47.791446066839185, + 297.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -47.791446066839185, + 300.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -47.791446066839185, + 303.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -47.791446066839185, + 306.75769121913993, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -47.791446066839185, + 306.75769121913993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -46.291446066839185, + 309.35576743049324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -44.791446066839185, + 311.95384364184656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -43.291446066839185, + 314.5519198531999, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -41.791446066839185, + 317.1499960645532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -40.291446066839185, + 319.7480722759065, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-58-19_364686248/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-58-19_364686248/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2256de46b7797e2c344d337ab91d98a7ef7bdcac --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-58-19_364686248/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 526.1651767765893, + 0.48811754383397954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 524.6651767765893, + -2.1099586675193365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 523.1651767765893, + -4.7080348788726525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 521.6651767765893, + -7.3061110902259685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 520.1651767765893, + -9.904187301579285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 518.6651767765893, + -12.5022635129326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 517.1651767765893, + -15.100339724285917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 515.6651767765893, + -17.698415935639233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 514.1651767765893, + -20.29649214699255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 512.6651767765893, + -22.894568358345865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 511.1651767765893, + -25.49264456969918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 509.6651767765893, + -28.090720781052497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 508.1651767765893, + -30.688796992405813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 506.6651767765893, + -33.28687320375913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 505.1651767765893, + -35.884949415112445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 503.6651767765893, + -38.48302562646576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 502.1651767765893, + -41.08110183781908, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 500.6651767765893, + -43.67917804917239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 499.1651767765893, + -46.27725426052571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.6651767765893, + -48.875330471879025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.1651767765893, + -51.47340668323234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 494.6651767765893, + -54.07148289458566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 493.1651767765893, + -56.66955910593897, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 493.1651767765893, + -56.66955910593897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 490.567100565236, + -58.16955910593897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 487.9690243538827, + -59.66955910593897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 485.37094814252936, + -61.16955910593897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 482.77287193117604, + -62.66955910593897, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-59-23_1280321648/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-59-23_1280321648/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2830c50f9ae072a79a747baeb69062b0b73488a9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-59-23_1280321648/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 612.3948823654016, + -311.89348444136397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 610.8948823654016, + -309.29540823001065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 609.3948823654016, + -306.69733201865733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 607.8948823654016, + -304.099255807304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 606.3948823654016, + -301.5011795959507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 604.8948823654016, + -298.9031033845974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 603.3948823654016, + -296.30502717324407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 601.8948823654016, + -293.70695096189075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 600.3948823654016, + -291.10887475053744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 598.8948823654016, + -288.5107985391841, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 597.3948823654016, + -285.9127223278308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 595.8948823654016, + -283.3146461164775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 594.3948823654016, + -280.7165699051242, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 592.8948823654016, + -278.11849369377086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 591.3948823654016, + -275.52041748241754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 589.8948823654016, + -272.9223412710642, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 588.3948823654016, + -270.3242650597109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 586.8948823654016, + -267.7261888483576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 585.3948823654016, + -265.1281126370043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 583.8948823654016, + -262.53003642565096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 582.3948823654016, + -259.93196021429765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 580.8948823654016, + -257.33388400294433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 579.3948823654016, + -254.73580779159101, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 577.8948823654016, + -252.1377315802377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 576.3948823654016, + -249.53965536888438, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 576.3948823654016, + -249.53965536888438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 576.3948823654016, + -246.53965536888438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 576.3948823654016, + -243.53965536888438, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-11-23_820697697/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-11-23_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b5f40f839e1d3464d490f89cbaba59d4cdedaf5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-11-23_820697697/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.2597847858577, + 80.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1002.857860997211, + 81.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1005.4559372085644, + 83.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1008.0540134199177, + 84.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1010.6520896312711, + 86.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1013.2501658426245, + 87.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1015.8482420539779, + 89.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1018.4463182653312, + 90.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1021.0443944766846, + 92.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1023.642470688038, + 93.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1026.2405468993913, + 95.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1028.8386231107447, + 96.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.436699322098, + 98.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1034.0347755334515, + 99.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1036.6328517448048, + 101.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1039.2309279561582, + 102.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1041.8290041675116, + 104.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1044.427080378865, + 105.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1047.0251565902183, + 107.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1049.6232328015717, + 108.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1052.221309012925, + 110.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1054.8193852242784, + 111.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1057.4174614356318, + 113.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1060.0155376469852, + 114.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1062.6136138583386, + 116.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1065.211690069692, + 117.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1067.8097662810453, + 119.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1070.4078424923987, + 120.52115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1073.005918703752, + 122.02115346358231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1075.6039949151054, + 123.52115346358231, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-16-11_1380171692/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-16-11_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bed2e63986539a2c4c017810f4a77b978453bbb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-16-11_1380171692/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1898.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1901.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1904.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1907.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1910.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1913.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1916.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1919.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1922.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1925.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1928.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1931.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1934.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1937.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1940.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1943.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1946.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1949.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1952.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1955.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1958.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1961.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1964.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1967.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1970.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1973.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1973.296574737498, + 386.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1975.8946509488514, + 387.6424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1978.4927271602048, + 389.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1981.0908033715582, + 390.6424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1983.6888795829116, + 392.1424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1986.286955794265, + 393.6424502418382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1988.8850320056183, + 395.1424502418382, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-18-38_70636429/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-18-38_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30896b779ac486a8165acb8fb1f2322a140a9ba7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-18-38_70636429/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1982.579160242668, + 516.0420860405405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1982.579160242668, + 513.0420860405405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1982.579160242668, + 510.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1982.579160242668, + 507.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1982.579160242668, + 504.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1982.579160242668, + 501.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1982.579160242668, + 498.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1982.579160242668, + 495.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1982.579160242668, + 492.04208604054054, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.579160242668, + 492.04208604054054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1984.079160242668, + 489.4440098291872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1985.579160242668, + 486.8459336178339, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-16_1219407971/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-16_1219407971/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7ffe4e8b618960a44a5d245b1973f7436bb577f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-16_1219407971/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1132.5024575761443, + 568.9915224201247, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1131.0024575761443, + 571.5895986314781, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1129.5024575761443, + 574.1876748428315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1128.0024575761443, + 576.7857510541849, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1126.5024575761443, + 579.3838272655382, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1125.0024575761443, + 581.9819034768916, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1123.5024575761443, + 584.579979688245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1122.0024575761443, + 587.1780558995983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1120.5024575761443, + 589.7761321109517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1119.0024575761443, + 592.3742083223051, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1117.5024575761443, + 594.9722845336585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1116.0024575761443, + 597.5703607450118, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1114.5024575761443, + 600.1684369563652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1113.0024575761443, + 602.7665131677186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1111.5024575761443, + 605.364589379072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1110.0024575761443, + 607.9626655904253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1108.5024575761443, + 610.5607418017787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1107.0024575761443, + 613.1588180131321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1105.5024575761443, + 615.7568942244854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1104.0024575761443, + 618.3549704358388, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1102.5024575761443, + 620.9530466471922, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1101.0024575761443, + 623.5511228585456, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1101.0024575761443, + 623.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1101.0024575761443, + 626.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1101.0024575761443, + 629.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1101.0024575761443, + 632.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1101.0024575761443, + 635.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1101.0024575761443, + 638.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1101.0024575761443, + 641.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1101.0024575761443, + 644.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1101.0024575761443, + 647.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1101.0024575761443, + 650.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1101.0024575761443, + 653.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1101.0024575761443, + 656.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1101.0024575761443, + 659.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1101.0024575761443, + 662.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1101.0024575761443, + 665.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1101.0024575761443, + 668.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1101.0024575761443, + 671.5511228585456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1101.0024575761443, + 674.5511228585456, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-21-57_1841585795/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-21-57_1841585795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32a0b08d5a365d91a60cb3bf0f60b39cb4fa5a8c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-21-57_1841585795/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1798.703251520831, + 69.38571193037005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1800.203251520831, + 71.98378814172337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1801.703251520831, + 74.58186435307668, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1803.203251520831, + 77.17994056443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1804.703251520831, + 79.77801677578331, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1806.203251520831, + 82.37609298713663, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1807.703251520831, + 84.97416919848995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1809.203251520831, + 87.57224540984326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1810.703251520831, + 90.17032162119658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1812.203251520831, + 92.7683978325499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1813.703251520831, + 95.36647404390321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1815.203251520831, + 97.96455025525653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1816.703251520831, + 100.56262646660984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1818.203251520831, + 103.16070267796316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1819.703251520831, + 105.75877888931647, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1821.203251520831, + 108.35685510066979, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1822.703251520831, + 110.9549313120231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1824.203251520831, + 113.55300752337642, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1825.703251520831, + 116.15108373472974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1827.203251520831, + 118.74915994608305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1828.703251520831, + 121.34723615743637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1830.203251520831, + 123.94531236878969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1831.703251520831, + 126.543388580143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1833.203251520831, + 129.14146479149633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1834.703251520831, + 131.73954100284965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1836.203251520831, + 134.33761721420296, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1836.203251520831, + 134.33761721420296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1838.8013277321843, + 135.83761721420296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1841.3994039435377, + 137.33761721420296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1843.997480154891, + 138.83761721420296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1846.5955563662444, + 140.33761721420296, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-26-28_1516266761/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-26-28_1516266761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4a5a5070695d5eb8f76976eb55f4a09c846c60c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-26-28_1516266761/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 989.0272227424625, + 74.59413625862632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 987.5272227424625, + 71.996060047273, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 986.0272227424625, + 69.39798383591969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 984.5272227424625, + 66.79990762456637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 983.0272227424625, + 64.20183141321306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 981.5272227424625, + 61.60375520185974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 980.0272227424625, + 59.005678990506425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 978.5272227424625, + 56.40760277915311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 977.0272227424625, + 53.80952656779979, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 975.5272227424625, + 51.21145035644648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 974.0272227424625, + 48.61337414509316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 972.5272227424625, + 46.015297933739845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 971.0272227424625, + 43.41722172238653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 969.5272227424625, + 40.81914551103321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 968.0272227424625, + 38.2210692996799, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 966.5272227424625, + 35.62299308832658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 965.0272227424625, + 33.024916876973265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 963.5272227424625, + 30.42684066561995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 962.0272227424625, + 27.828764454266633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 960.5272227424625, + 25.230688242913317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 959.0272227424625, + 22.63261203156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 957.5272227424625, + 20.034535820206685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 956.0272227424625, + 17.43645960885337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 954.5272227424625, + 14.838383397500053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 953.0272227424625, + 12.240307186146737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 951.5272227424625, + 9.64223097479342, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-46_2016764524/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-46_2016764524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e36617ae9258afba38cca584987b0cd9686fe1d8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-46_2016764524/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -127.4509576191963, + 233.9425824812556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -125.9509576191963, + 236.54065869260893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -124.4509576191963, + 239.13873490396224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -122.9509576191963, + 241.73681111531556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -121.4509576191963, + 244.33488732666888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -119.9509576191963, + 246.9329635380222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -118.4509576191963, + 249.5310397493755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -116.9509576191963, + 252.12911596072883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -115.4509576191963, + 254.72719217208214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -113.9509576191963, + 257.32526838343546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.4509576191963, + 259.9233445947888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -110.9509576191963, + 262.5214208061421, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -109.4509576191963, + 265.1194970174954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.9509576191963, + 267.7175732288487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -106.4509576191963, + 270.31564944020204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.9509576191963, + 272.91372565155535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -103.4509576191963, + 275.51180186290867, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -101.9509576191963, + 278.109878074262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -100.4509576191963, + 280.7079542856153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -98.9509576191963, + 283.3060304969686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.4509576191963, + 285.90410670832193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -95.9509576191963, + 288.50218291967525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -94.4509576191963, + 291.10025913102857, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -94.4509576191963, + 291.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -91.85288140784299, + 292.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -89.25480519648967, + 294.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -86.65672898513635, + 295.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -84.05865277378304, + 297.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -81.46057656242972, + 298.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -78.8625003510764, + 300.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -76.26442413972309, + 301.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -73.66634792836977, + 303.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -71.06827171701646, + 304.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -68.47019550566314, + 306.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -65.87211929430983, + 307.60025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -63.27404308295651, + 309.10025913102857, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -63.27404308295651, + 309.10025913102857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -61.77404308295651, + 311.6983353423819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -60.27404308295651, + 314.2964115537352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -58.77404308295651, + 316.8944877650885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -57.27404308295651, + 319.49256397644183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -55.77404308295651, + 322.09064018779515, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-4_2004504234/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-4_2004504234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ee1f8c00ac45889416e29dd35dd1f055d792a16 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-31-4_2004504234/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 646.7958137339464, + -138.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 644.1977375225931, + -140.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 641.5996613112397, + -141.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 639.0015850998864, + -143.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 636.403508888533, + -144.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 633.8054326771796, + -146.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 631.2073564658263, + -147.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 628.6092802544729, + -149.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 626.0112040431195, + -150.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 623.4131278317661, + -152.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 620.8150516204128, + -153.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 618.2169754090594, + -155.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 615.618899197706, + -156.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 613.0208229863526, + -158.33674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 610.4227467749993, + -159.83674585252004, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 610.4227467749993, + -159.83674585252004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 608.9227467749993, + -162.43482206387336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 607.4227467749993, + -165.03289827522667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 605.9227467749993, + -167.63097448658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 604.4227467749993, + -170.2290506979333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 602.9227467749993, + -172.82712690928662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 601.4227467749993, + -175.42520312063994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 599.9227467749993, + -178.02327933199325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 598.4227467749993, + -180.62135554334657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 596.9227467749993, + -183.21943175469988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 595.4227467749993, + -185.8175079660532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 593.9227467749993, + -188.41558417740652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 592.4227467749993, + -191.01366038875983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 590.9227467749993, + -193.61173660011315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 589.4227467749993, + -196.20981281146646, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 589.4227467749993, + -196.20981281146646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 586.8246705636459, + -197.70981281146646, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-59_1297893529/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-59_1297893529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a6c202c786c18cf326aefd7cdac67015dbb952b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-59_1297893529/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1989.6092648824197, + -173.23343353236245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1988.1092648824197, + -170.63535732100914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1986.6092648824197, + -168.03728110965582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1985.1092648824197, + -165.4392048983025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1983.6092648824197, + -162.8411286869492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1982.1092648824197, + -160.24305247559587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1980.6092648824197, + -157.64497626424256, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1979.1092648824197, + -155.04690005288924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1977.6092648824197, + -152.44882384153593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1976.1092648824197, + -149.8507476301826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1974.6092648824197, + -147.2526714188293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1973.1092648824197, + -144.65459520747598, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1971.6092648824197, + -142.05651899612266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1970.1092648824197, + -139.45844278476935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1968.6092648824197, + -136.86036657341603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1967.1092648824197, + -134.2622903620627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1965.6092648824197, + -131.6642141507094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1964.1092648824197, + -129.06613793935608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.6092648824197, + -126.46806172800277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1961.1092648824197, + -123.86998551664945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1959.6092648824197, + -121.27190930529613, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1958.1092648824197, + -118.67383309394282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1956.6092648824197, + -116.0757568825895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1955.1092648824197, + -113.47768067123619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1953.6092648824197, + -110.87960445988287, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1952.1092648824197, + -108.28152824852955, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1950.6092648824197, + -105.68345203717624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1949.1092648824197, + -103.08537582582292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1947.6092648824197, + -100.4872996144696, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1947.6092648824197, + -100.4872996144696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1947.6092648824197, + -97.4872996144696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1947.6092648824197, + -94.4872996144696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1947.6092648824197, + -91.4872996144696, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-39-20_318561886/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-39-20_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5431c1bc8826efe865779776b065f7d1b0b4da0b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-39-20_318561886/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 646.1532542779903, + -98.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 643.5551780666369, + -99.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 640.9571018552836, + -101.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 638.3590256439302, + -102.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 635.7609494325768, + -104.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 633.1628732212234, + -105.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 630.5647970098701, + -107.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 627.9667207985167, + -108.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 625.3686445871633, + -110.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 622.77056837581, + -111.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 620.1724921644566, + -113.42387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 617.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 617.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 614.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 611.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 608.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 605.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 602.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 599.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 596.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 593.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 590.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 587.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 584.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 581.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 578.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 575.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 572.5744159531032, + -114.92387884651211, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-55_1788014412/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-55_1788014412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4964768de09441351d54d26c50ec1f93ac34f078 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-40-55_1788014412/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1492.0342018621345, + 902.4937308459363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1490.5342018621345, + 899.895654634583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1489.0342018621345, + 897.2975784232297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1487.5342018621345, + 894.6995022118763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1486.0342018621345, + 892.1014260005229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1484.5342018621345, + 889.5033497891695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1483.0342018621345, + 886.9052735778162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1481.5342018621345, + 884.3071973664628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1480.0342018621345, + 881.7091211551094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1478.5342018621345, + 879.111044943756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1477.0342018621345, + 876.5129687324027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1475.5342018621345, + 873.9148925210493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1474.0342018621345, + 871.3168163096959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1472.5342018621345, + 868.7187400983426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1471.0342018621345, + 866.1206638869892, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-47-52_159473059/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-47-52_159473059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..363c78653ca3dcc7926b8157fef3dcff82c9c558 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-47-52_159473059/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1907.7167893637607, + -41.54928408712229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1909.2167893637607, + -38.95120787576897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1910.7167893637607, + -36.353131664415656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1912.2167893637607, + -33.75505545306234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1913.7167893637607, + -31.156979241709024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1915.2167893637607, + -28.558903030355708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1916.7167893637607, + -25.960826819002392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1918.2167893637607, + -23.362750607649076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1919.7167893637607, + -20.76467439629576, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1919.7167893637607, + -20.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1922.314865575114, + -19.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1924.9129417864674, + -17.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1927.5110179978208, + -16.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1930.1090942091741, + -14.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1932.7071704205275, + -13.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1935.305246631881, + -11.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1937.9033228432343, + -10.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1940.5013990545876, + -8.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1943.099475265941, + -7.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1945.6975514772944, + -5.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1948.2956276886478, + -4.26467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1950.8937039000011, + -2.76467439629576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1953.4917801113545, + -1.2646743962957603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1956.0898563227079, + 0.2353256037042395, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1958.6879325340612, + 1.7353256037042393, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1961.2860087454146, + 3.235325603704239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.884084956768, + 4.735325603704239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1966.4821611681214, + 6.235325603704239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1969.0802373794747, + 7.735325603704239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1971.678313590828, + 9.235325603704238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1974.2763898021815, + 10.735325603704238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1976.8744660135349, + 12.235325603704238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1979.4725422248882, + 13.735325603704238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1982.0706184362416, + 15.235325603704238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1984.668694647595, + 16.735325603704236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982888 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1987.2667708589483, + 18.235325603704236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1989.8648470703017, + 19.735325603704236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1992.462923281655, + 21.235325603704236, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1992.462923281655, + 21.235325603704236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1993.962923281655, + 23.833401815057552, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1995.462923281655, + 26.43147802641087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1996.962923281655, + 29.029554237764184, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-33_1190668363/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-33_1190668363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9ab8643518bd3cc9be3fca9f2b1b732ae2002f7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-33_1190668363/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1579.373170721373, + -143.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1576.7750945100197, + -141.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1574.1770182986663, + -140.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1571.578942087313, + -138.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1568.9808658759596, + -137.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1566.3827896646062, + -135.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1563.7847134532528, + -134.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1561.1866372418995, + -132.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1558.588561030546, + -131.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1555.9904848191927, + -129.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1553.3924086078393, + -128.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1550.794332396486, + -126.66773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1548.1962561851326, + -125.16773824611482, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1548.1962561851326, + -125.16773824611482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1546.6962561851326, + -122.5696620347615, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1545.1962561851326, + -119.97158582340819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1543.6962561851326, + -117.37350961205487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1542.1962561851326, + -114.77543340070156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1540.6962561851326, + -112.17735718934824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1539.1962561851326, + -109.57928097799493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1537.6962561851326, + -106.98120476664161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1536.1962561851326, + -104.3831285552883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1534.6962561851326, + -101.78505234393498, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1533.1962561851326, + -99.18697613258166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1531.6962561851326, + -96.58889992122835, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1530.1962561851326, + -93.99082370987503, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-48_1336092622/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-48_1336092622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc3994beb2c76d530ab089fb1f60e46aa6969c39 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-58-48_1336092622/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 687.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 690.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 693.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 696.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 699.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 702.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 705.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 708.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 711.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 711.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 711.8109533736132, + -320.9058948955138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 713.3109533736132, + -318.3078186841605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 714.8109533736132, + -315.7097424728072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 716.3109533736132, + -313.1116662614539, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 716.3109533736132, + -313.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 718.9090295849664, + -311.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 721.5071057963198, + -310.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 724.1051820076732, + -308.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 726.7032582190266, + -307.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 729.3013344303799, + -305.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 731.8994106417333, + -304.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 734.4974868530867, + -302.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 737.0955630644401, + -301.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 739.6936392757934, + -299.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 742.2917154871468, + -298.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 744.8897916985002, + -296.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 747.4878679098535, + -295.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 750.0859441212069, + -293.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 752.6840203325603, + -292.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 755.2820965439137, + -290.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 757.880172755267, + -289.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 760.4782489666204, + -287.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 763.0763251779738, + -286.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 765.6744013893272, + -284.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 768.2724776006805, + -283.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 770.8705538120339, + -281.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 773.4686300233873, + -280.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 776.0667062347406, + -278.6116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 778.664782446094, + -277.1116662614539, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 778.664782446094, + -277.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 781.664782446094, + -277.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 784.664782446094, + -277.1116662614539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 787.664782446094, + -277.1116662614539, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-59-11_410228794/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-59-11_410228794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da2e11b1d9a2dc67cf9626340f71ff9d8e933113 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-59-11_410228794/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1912.5864813984829, + 738.2961974600161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1914.0864813984829, + 735.6981212486628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1915.5864813984829, + 733.1000450373094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1917.0864813984829, + 730.501968825956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1918.5864813984829, + 727.9038926146027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1920.0864813984829, + 725.3058164032493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1921.5864813984829, + 722.7077401918959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1923.0864813984829, + 720.1096639805426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1924.5864813984829, + 717.5115877691892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1926.0864813984829, + 714.9135115578358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1927.5864813984829, + 712.3154353464824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1929.0864813984829, + 709.7173591351291, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1930.5864813984829, + 707.1192829237757, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1932.0864813984829, + 704.5212067124223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1933.5864813984829, + 701.923130501069, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1935.0864813984829, + 699.3250542897156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1936.5864813984829, + 696.7269780783622, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1938.0864813984829, + 694.1289018670088, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1938.0864813984829, + 694.1289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1940.6845576098362, + 692.6289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1943.2826338211896, + 691.1289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1945.880710032543, + 689.6289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1948.4787862438964, + 688.1289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1951.0768624552497, + 686.6289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1953.674938666603, + 685.1289018670088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1956.2730148779565, + 683.6289018670088, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-1-54_427355115/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-1-54_427355115/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4750198a6f9286f05cef3f0945132e76caed03af --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-1-54_427355115/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.8695607306514, + 236.37275009289306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.8695607306514, + 236.37275009289306, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.8695607306514, + 236.37275009289306, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.8695607306514, + 236.37275009289306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.3695607306514, + 233.77467388153974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 295.8695607306514, + 231.17659767018642, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.3695607306514, + 228.5785214588331, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 298.8695607306514, + 225.9804452474798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.3695607306514, + 223.38236903612648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.8695607306514, + 220.78429282477316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.3695607306514, + 218.18621661341984, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.8695607306514, + 215.58814040206653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.3695607306514, + 212.9900641907132, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 307.8695607306514, + 210.3919879793599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.3695607306514, + 207.79391176800658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.8695607306514, + 205.19583555665326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 312.3695607306514, + 202.59775934529995, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.3695607306514, + 202.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 314.96763694200473, + 201.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 317.56571315335805, + 199.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 320.16378936471136, + 198.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 322.7618655760647, + 196.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 325.359941787418, + 195.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.9580179987713, + 193.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 330.5560942101246, + 192.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 333.15417042147794, + 190.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 335.75224663283126, + 189.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.3503228441846, + 187.59775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 340.9483990555379, + 186.09775934529995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.5464752668912, + 184.59775934529995, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-36_1543324176/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-36_1543324176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0add3dda00424e57a0a606dedaaa8871c5e863fb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-36_1543324176/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1397.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1400.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1403.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1406.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1406.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1406.719801401, + 527.1544045585362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1408.219801401, + 524.5563283471829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1409.719801401, + 521.9582521358295, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1409.719801401, + 521.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1412.3178776123534, + 520.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1414.9159538237068, + 518.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1417.5140300350602, + 517.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1420.1121062464135, + 515.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1422.710182457767, + 514.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1425.3082586691203, + 512.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1427.9063348804737, + 511.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1430.504411091827, + 509.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1433.1024873031804, + 508.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1435.7005635145338, + 506.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1438.2986397258871, + 505.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1440.8967159372405, + 503.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1443.494792148594, + 502.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1446.0928683599473, + 500.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1448.6909445713006, + 499.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1451.289020782654, + 497.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1453.8870969940074, + 496.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1456.4851732053608, + 494.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1459.0832494167141, + 493.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1461.6813256280675, + 491.9582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1464.2794018394209, + 490.4582521358295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1466.8774780507742, + 488.9582521358295, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-35_358984857/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-35_358984857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fac7d13f8524abe28382cc36c2828cf56f539446 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-35_358984857/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1797.81795078483, + 245.33234960050825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1799.31795078483, + 242.73427338915494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1800.81795078483, + 240.13619717780162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1802.31795078483, + 237.5381209664483, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1803.81795078483, + 234.940044755095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1805.31795078483, + 232.34196854374167, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1806.81795078483, + 229.74389233238836, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1808.31795078483, + 227.14581612103504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1809.81795078483, + 224.54773990968172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1811.31795078483, + 221.9496636983284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1812.81795078483, + 219.3515874869751, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1812.81795078483, + 219.3515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1815.4160269961833, + 217.8515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1818.0141032075367, + 216.3515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1820.61217941889, + 214.8515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1823.2102556302434, + 213.3515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1825.8083318415968, + 211.8515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1828.4064080529502, + 210.3515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1831.0044842643035, + 208.8515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1833.602560475657, + 207.3515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1836.2006366870103, + 205.8515874869751, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1836.2006366870103, + 205.8515874869751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1837.7006366870103, + 203.25351127562178, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-22_2033505236/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-22_2033505236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..572108af2349c5d8d85d4e922ebf229f15ab1a69 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-15-22_2033505236/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 569.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 572.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 575.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 578.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 581.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 584.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 587.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 590.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 593.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 596.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 599.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 602.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 605.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 608.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 608.6488785805121, + -10.67564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 611.2469547918654, + -12.17564885636812, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 611.2469547918654, + -12.17564885636812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 612.7469547918654, + -14.773725067721436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 614.2469547918654, + -17.371801279074752, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 614.2469547918654, + -17.371801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 616.8450310032188, + -18.871801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 619.4431072145721, + -20.371801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 622.0411834259255, + -21.871801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 624.6392596372789, + -23.371801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 627.2373358486323, + -24.871801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 629.8354120599856, + -26.371801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 632.433488271339, + -27.871801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 635.0315644826924, + -29.371801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 637.6296406940457, + -30.871801279074752, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 640.2277169053991, + -32.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 642.8257931167525, + -33.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 645.4238693281059, + -35.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 648.0219455394592, + -36.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 650.6200217508126, + -38.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 653.218097962166, + -39.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 655.8161741735194, + -41.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 658.4142503848727, + -42.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 661.0123265962261, + -44.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 663.6104028075795, + -45.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 666.2084790189328, + -47.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 668.8065552302862, + -48.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 671.4046314416396, + -50.37180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 674.002707652993, + -51.87180127907475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 676.6007838643463, + -53.37180127907475, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-2-31_1272796157/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-2-31_1272796157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cd79b4b3988135a6ebafde68282a2ba5f996a78 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-2-31_1272796157/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1329.860007016696, + 392.1556414947355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1327.2619308053427, + 393.6556414947355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1324.6638545939893, + 395.1556414947355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1322.065778382636, + 396.6556414947355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1319.4677021712826, + 398.1556414947355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1316.8696259599292, + 399.6556414947355, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-29_1646478179/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-29_1646478179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4c1d7f485d98572da89f07727f356871692d5f5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-29_1646478179/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1884.8462600328207, + 32.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1884.8462600328207, + 35.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1884.8462600328207, + 38.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1884.8462600328207, + 41.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1884.8462600328207, + 44.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1884.8462600328207, + 47.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1884.8462600328207, + 50.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1884.8462600328207, + 53.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1884.8462600328207, + 56.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1884.8462600328207, + 59.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1884.8462600328207, + 62.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1884.8462600328207, + 65.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1884.8462600328207, + 68.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1884.8462600328207, + 71.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1884.8462600328207, + 74.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1884.8462600328207, + 77.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1884.8462600328207, + 80.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1884.8462600328207, + 83.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1884.8462600328207, + 86.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1884.8462600328207, + 89.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1884.8462600328207, + 92.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1884.8462600328207, + 95.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1884.8462600328207, + 98.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1884.8462600328207, + 101.02554344243492, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1884.8462600328207, + 101.02554344243492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1883.3462600328207, + 103.62361965378824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1881.8462600328207, + 106.22169586514156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1880.3462600328207, + 108.81977207649487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1878.8462600328207, + 111.41784828784819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1877.3462600328207, + 114.0159244992015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1875.8462600328207, + 116.61400071055482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1874.3462600328207, + 119.21207692190814, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1872.8462600328207, + 121.81015313326145, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-6_107734713/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-6_107734713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42d6695a96ce6706797a7dba3086166efe4fe473 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-25-6_107734713/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 676.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 679.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 682.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 685.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 688.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 691.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 694.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 697.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 700.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 703.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 706.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 709.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 712.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 715.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 718.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 721.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 724.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 727.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 730.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 733.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 736.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 739.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 742.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 745.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 745.9229687692049, + 435.5060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 748.5210449805581, + 437.0060248918431, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 748.5210449805581, + 437.0060248918431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 750.0210449805581, + 439.6041011031964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 751.5210449805581, + 442.2021773145497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 753.0210449805581, + 444.80025352590303, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 753.0210449805581, + 444.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 755.6191211919115, + 446.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 758.2171974032649, + 447.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 760.8152736146183, + 449.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 763.4133498259716, + 450.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 766.011426037325, + 452.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 768.6095022486784, + 453.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 771.2075784600318, + 455.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 773.8056546713851, + 456.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 776.4037308827385, + 458.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 779.0018070940919, + 459.80025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 781.5998833054452, + 461.30025352590303, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 781.5998833054452, + 461.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 784.5998833054452, + 461.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 787.5998833054452, + 461.30025352590303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 790.5998833054452, + 461.30025352590303, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-13_1615935710/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-13_1615935710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..935735aaf42028ae8ecc2641ab8667e7877c5bf7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-13_1615935710/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1956.4401066390824, + -172.79304436666737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1954.9401066390824, + -170.19496815531406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1953.4401066390824, + -167.59689194396074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1951.9401066390824, + -164.99881573260743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1950.4401066390824, + -162.4007395212541, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1948.9401066390824, + -159.8026633099008, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1947.4401066390824, + -157.20458709854748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1945.9401066390824, + -154.60651088719416, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1944.4401066390824, + -152.00843467584085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1942.9401066390824, + -149.41035846448753, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1941.4401066390824, + -146.8122822531342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1939.9401066390824, + -144.2142060417809, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1938.4401066390824, + -141.61612983042758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1936.9401066390824, + -139.01805361907427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1935.4401066390824, + -136.41997740772095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1933.9401066390824, + -133.82190119636763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1932.4401066390824, + -131.22382498501432, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1930.9401066390824, + -128.625748773661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1929.4401066390824, + -126.02767256230769, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1927.9401066390824, + -123.42959635095437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1926.4401066390824, + -120.83152013960105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1924.9401066390824, + -118.23344392824774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1923.4401066390824, + -115.63536771689442, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1921.9401066390824, + -113.0372915055411, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1920.4401066390824, + -110.43921529418779, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1918.9401066390824, + -107.84113908283447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1917.4401066390824, + -105.24306287148116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1915.9401066390824, + -102.64498666012784, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1915.9401066390824, + -102.64498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1913.342030427729, + -101.14498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1910.7439542163756, + -99.64498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1908.1458780050223, + -98.14498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1905.547801793669, + -96.64498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1902.9497255823155, + -95.14498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1900.3516493709621, + -93.64498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1897.7535731596088, + -92.14498666012784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1895.1554969482554, + -90.64498666012784, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-28-36_114760235/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-28-36_114760235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b564d396bda02469372f47fa1d68236e4d91b71 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-28-36_114760235/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1804.648341029094, + 257.20514365571904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1806.148341029094, + 254.60706744436573, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1807.648341029094, + 252.0089912330124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1809.148341029094, + 249.4109150216591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1810.648341029094, + 246.81283881030578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1812.148341029094, + 244.21476259895246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1813.648341029094, + 241.61668638759915, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1815.148341029094, + 239.01861017624583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1816.648341029094, + 236.4205339648925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1818.148341029094, + 233.8224577535392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1819.648341029094, + 231.22438154218588, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1821.148341029094, + 228.62630533083257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1822.648341029094, + 226.02822911947925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1824.148341029094, + 223.43015290812593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1825.648341029094, + 220.83207669677262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1827.148341029094, + 218.2340004854193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1828.648341029094, + 215.63592427406599, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1828.648341029094, + 215.63592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1831.2464172404473, + 214.13592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1833.8444934518006, + 212.63592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1836.442569663154, + 211.13592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1839.0406458745074, + 209.63592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1841.6387220858608, + 208.13592427406599, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1841.6387220858608, + 208.13592427406599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1843.1387220858608, + 205.53784806271267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1844.6387220858608, + 202.93977185135935, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-30-52_2030449291/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-30-52_2030449291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc011a488a8eff2a6ca1071756b79b039ee4511b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-30-52_2030449291/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1969.8779952435002, + 761.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1969.8779952435002, + 758.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1969.8779952435002, + 755.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1969.8779952435002, + 752.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1969.8779952435002, + 749.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1969.8779952435002, + 746.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1969.8779952435002, + 743.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1969.8779952435002, + 740.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1969.8779952435002, + 737.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1969.8779952435002, + 734.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1969.8779952435002, + 731.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1969.8779952435002, + 728.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1969.8779952435002, + 725.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1969.8779952435002, + 722.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1969.8779952435002, + 719.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1969.8779952435002, + 716.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1969.8779952435002, + 713.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1969.8779952435002, + 710.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1969.8779952435002, + 707.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1969.8779952435002, + 704.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1969.8779952435002, + 701.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1969.8779952435002, + 698.793328862891, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1969.8779952435002, + 698.793328862891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1971.3779952435002, + 696.1952526515377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1972.8779952435002, + 693.5971764401843, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-42_1007277217/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-42_1007277217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37aa30c0daf814699cfc2c0ccd245ad07384f2ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-42_1007277217/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 298.13532976958487, + 419.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.13532976958487, + 416.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 298.13532976958487, + 413.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 298.13532976958487, + 410.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 298.13532976958487, + 407.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 298.13532976958487, + 404.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.13532976958487, + 401.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 298.13532976958487, + 398.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 298.13532976958487, + 395.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.13532976958487, + 392.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 298.13532976958487, + 389.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.13532976958487, + 386.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 298.13532976958487, + 383.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.13532976958487, + 380.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 298.13532976958487, + 377.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.13532976958487, + 374.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.13532976958487, + 371.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.13532976958487, + 368.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 298.13532976958487, + 365.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 298.13532976958487, + 362.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 298.13532976958487, + 359.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 298.13532976958487, + 356.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 298.13532976958487, + 353.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 298.13532976958487, + 350.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.13532976958487, + 347.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 298.13532976958487, + 344.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.13532976958487, + 341.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.13532976958487, + 338.4236689608567, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 298.13532976958487, + 338.4236689608567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 299.63532976958487, + 335.82559274950336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.13532976958487, + 333.22751653815004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.63532976958487, + 330.6294403267967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 304.13532976958487, + 328.0313641154434, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.63532976958487, + 325.4332879040901, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.13532976958487, + 322.8352116927368, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 308.63532976958487, + 320.23713548138346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 310.13532976958487, + 317.63905927003015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 311.63532976958487, + 315.04098305867683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 313.13532976958487, + 312.4429068473235, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-3_1155722604/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-3_1155722604/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0e7d4de1a4a10a105abd81ea269a367e37faf20 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-3_1155722604/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 116.0300384620202, + 365.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 116.0300384620202, + 362.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 116.0300384620202, + 359.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 116.0300384620202, + 356.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 116.0300384620202, + 353.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.0300384620202, + 350.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.0300384620202, + 347.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.0300384620202, + 344.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 116.0300384620202, + 341.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.0300384620202, + 338.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 116.0300384620202, + 335.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 116.0300384620202, + 332.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 116.0300384620202, + 329.80950006867437, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 116.0300384620202, + 329.80950006867437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 114.5300384620202, + 327.21142385732105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.0300384620202, + 324.61334764596774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 111.5300384620202, + 322.0152714346144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 110.0300384620202, + 319.4171952232611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 108.5300384620202, + 316.8191190119078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 107.0300384620202, + 314.22104280055447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.5300384620202, + 311.62296658920116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 104.0300384620202, + 309.02489037784784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.5300384620202, + 306.4268141664945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.0300384620202, + 303.8287379551412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.5300384620202, + 301.2306617437879, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 98.0300384620202, + 298.6325855324346, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-54_746349250/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-54_746349250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1861e5ecf8c861ea0fa9eefa51e97401cba1f87 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-36-54_746349250/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1914.0352745393475, + -160.4198745135112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1912.5352745393475, + -157.82179830215787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1911.0352745393475, + -155.22372209080456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1909.5352745393475, + -152.62564587945124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1908.0352745393475, + -150.02756966809793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1906.5352745393475, + -147.4294934567446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1905.0352745393475, + -144.8314172453913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1903.5352745393475, + -142.23334103403798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1902.0352745393475, + -139.63526482268466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1900.5352745393475, + -137.03718861133135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1899.0352745393475, + -134.43911239997803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1897.5352745393475, + -131.8410361886247, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1896.0352745393475, + -129.2429599772714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1894.5352745393475, + -126.64488376591808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1893.0352745393475, + -124.04680755456477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1891.5352745393475, + -121.44873134321145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1890.0352745393475, + -118.85065513185813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1888.5352745393475, + -116.25257892050482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1887.0352745393475, + -113.6545027091515, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1887.0352745393475, + -113.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1887.0352745393475, + -110.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1887.0352745393475, + -107.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1887.0352745393475, + -104.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1887.0352745393475, + -101.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1887.0352745393475, + -98.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1887.0352745393475, + -95.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1887.0352745393475, + -92.6545027091515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1887.0352745393475, + -89.6545027091515, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-10_659639006/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-10_659639006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8dc3dd554973c15dcc38d59f70c9d6b4caadee4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-10_659639006/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.03535895550361, + 384.1687351228601, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 123.53535895550361, + 381.57065891150677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.03535895550361, + 378.97258270015345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 120.53535895550361, + 376.37450648880014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.03535895550361, + 373.7764302774468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 117.53535895550361, + 371.1783540660935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.03535895550361, + 368.5802778547402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 114.53535895550361, + 365.9822016433869, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.03535895550361, + 363.38412543203356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 111.53535895550361, + 360.78604922068024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 110.03535895550361, + 358.1879730093269, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 108.53535895550361, + 355.5898967979736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.03535895550361, + 352.9918205866203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 105.53535895550361, + 350.393744375267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 104.03535895550361, + 347.79566816391366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 102.53535895550361, + 345.19759195256034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 101.03535895550361, + 342.59951574120703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 99.53535895550361, + 340.0014395298537, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 98.03535895550361, + 337.4033633185004, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.03535895550361, + 337.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 98.03535895550361, + 334.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 98.03535895550361, + 331.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 98.03535895550361, + 328.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 98.03535895550361, + 325.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 98.03535895550361, + 322.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 98.03535895550361, + 319.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 98.03535895550361, + 316.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 98.03535895550361, + 313.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 98.03535895550361, + 310.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 98.03535895550361, + 307.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 98.03535895550361, + 304.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 98.03535895550361, + 301.4033633185004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 98.03535895550361, + 298.4033633185004, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-28_1460082195/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-28_1460082195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9399f144e1725dc4e8e24defc52063b884edc92 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-38-28_1460082195/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1946.5222297277894, + 99.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1943.924153516436, + 97.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1941.3260773050827, + 96.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1938.7280010937293, + 94.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1936.129924882376, + 93.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1933.5318486710225, + 91.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1930.9337724596692, + 90.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1928.3356962483158, + 88.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1925.7376200369624, + 87.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1923.139543825609, + 85.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1920.5414676142557, + 84.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1917.9433914029023, + 82.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1915.345315191549, + 81.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1912.7472389801956, + 79.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1910.1491627688422, + 78.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1907.5510865574888, + 76.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1904.9530103461354, + 75.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1902.354934134782, + 73.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1899.7568579234287, + 72.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1897.1587817120753, + 70.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1894.560705500722, + 69.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1891.9626292893686, + 67.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1889.3645530780152, + 66.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1886.7664768666618, + 64.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1884.1684006553085, + 63.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1881.570324443955, + 61.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1878.9722482326017, + 60.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1876.3741720212483, + 58.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1873.776095809895, + 57.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1871.1780195985416, + 55.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1868.5799433871882, + 54.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1865.9818671758349, + 52.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1863.3837909644815, + 51.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1860.785714753128, + 49.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1858.1876385417747, + 48.29117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1855.5895623304214, + 46.79117859051661, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1855.5895623304214, + 46.79117859051661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1854.0895623304214, + 44.19310237916329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1852.5895623304214, + 41.595026167809976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1851.0895623304214, + 38.99694995645666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1849.5895623304214, + 36.398873745103344, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-48-54_1046370347/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-48-54_1046370347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0fe96974ae044efeb75eaa937622bbba385b0a5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-48-54_1046370347/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1200.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1197.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1194.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1191.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1188.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1185.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1182.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1179.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1176.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1173.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1170.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1167.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1164.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1161.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1158.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1155.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1152.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1149.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1146.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1143.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1140.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1137.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1134.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1131.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1128.0850872198391, + 706.0356166465633, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-49-53_1089653714/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-49-53_1089653714/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b71a48a0d81353e67be1bc48eca48837ee1debd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-49-53_1089653714/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1211.7612502759175, + 680.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1211.7612502759175, + 683.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1211.7612502759175, + 686.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1211.7612502759175, + 689.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1211.7612502759175, + 692.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1211.7612502759175, + 695.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1211.7612502759175, + 698.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1211.7612502759175, + 701.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1211.7612502759175, + 704.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1211.7612502759175, + 707.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1211.7612502759175, + 710.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1211.7612502759175, + 713.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1211.7612502759175, + 716.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1211.7612502759175, + 719.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1211.7612502759175, + 722.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1211.7612502759175, + 725.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1211.7612502759175, + 728.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1211.7612502759175, + 731.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1211.7612502759175, + 734.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1211.7612502759175, + 737.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1211.7612502759175, + 740.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1211.7612502759175, + 743.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1211.7612502759175, + 746.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1211.7612502759175, + 749.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1211.7612502759175, + 752.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1211.7612502759175, + 755.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1211.7612502759175, + 758.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1211.7612502759175, + 761.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1211.7612502759175, + 764.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1211.7612502759175, + 767.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1211.7612502759175, + 770.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1211.7612502759175, + 773.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1211.7612502759175, + 776.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1211.7612502759175, + 779.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1211.7612502759175, + 782.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1211.7612502759175, + 785.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1211.7612502759175, + 788.3750295887469, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1211.7612502759175, + 788.3750295887469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1210.2612502759175, + 790.9731058001003, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1208.7612502759175, + 793.5711820114536, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-51-24_1982945082/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-51-24_1982945082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..731b1ab1ce3de3eb42001994864e02d9194b001e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-51-24_1982945082/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1638.257521635246, + -109.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1635.6594454238925, + -110.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1633.0613692125391, + -112.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1630.4632930011858, + -113.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1627.8652167898324, + -115.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1625.267140578479, + -116.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1622.6690643671257, + -118.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1620.0709881557723, + -119.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1617.472911944419, + -121.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1614.8748357330655, + -122.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1612.2767595217122, + -124.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1609.6786833103588, + -125.55836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1607.0806070990054, + -127.05836497256081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1604.482530887652, + -128.5583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1601.8844546762987, + -130.0583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1599.2863784649453, + -131.5583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1596.688302253592, + -133.0583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1594.0902260422386, + -134.5583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1591.4921498308852, + -136.0583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1588.8940736195318, + -137.5583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1586.2959974081784, + -139.0583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1583.697921196825, + -140.5583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1581.0998449854717, + -142.0583649725608, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1581.0998449854717, + -142.0583649725608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1579.5998449854717, + -144.65644118391413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1578.0998449854717, + -147.25451739526744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1576.5998449854717, + -149.85259360662076, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-55-59_1581539848/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-55-59_1581539848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a29a067ef0452cf5b774d1c043ef874c9c809683 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-55-59_1581539848/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 292.3658035032835, + 69.42150915456406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.8658035032835, + 72.01958536591738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.3658035032835, + 74.6176615772707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 296.8658035032835, + 77.21573778862401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 298.3658035032835, + 79.81381399997733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 299.8658035032835, + 82.41189021133064, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 301.3658035032835, + 85.00996642268396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 302.8658035032835, + 87.60804263403728, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 304.3658035032835, + 90.20611884539059, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 305.8658035032835, + 92.80419505674391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 307.3658035032835, + 95.40227126809722, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 308.8658035032835, + 98.00034747945054, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.3658035032835, + 100.59842369080386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 311.8658035032835, + 103.19649990215717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 313.3658035032835, + 105.79457611351049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 314.8658035032835, + 108.3926523248638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 316.3658035032835, + 110.99072853621712, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 317.8658035032835, + 113.58880474757044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 319.3658035032835, + 116.18688095892375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.8658035032835, + 118.78495717027707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.3658035032835, + 121.38303338163038, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.8658035032835, + 123.9811095929837, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 323.8658035032835, + 123.9811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.4638797146368, + 125.4811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 329.0619559259901, + 126.9811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 331.6600321373434, + 128.4811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 334.25810834869674, + 129.9811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 336.85618456005005, + 131.4811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 339.45426077140337, + 132.9811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 342.0523369827567, + 134.4811095929837, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 342.0523369827567, + 134.4811095929837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 343.5523369827567, + 137.07918580433702, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-0-17_590335821/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-0-17_590335821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6595b714d0217f98fff7c7abb5af4d240f50ee8c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-0-17_590335821/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 732.195706534269, + 377.06863253114346, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 733.695706534269, + 379.6667087424968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 735.195706534269, + 382.2647849538501, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 736.695706534269, + 384.8628611652034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 738.195706534269, + 387.46093737655673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 739.695706534269, + 390.05901358791004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 741.195706534269, + 392.65708979926336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 742.695706534269, + 395.2551660106167, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 744.195706534269, + 397.85324222197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 745.695706534269, + 400.4513184333233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 747.195706534269, + 403.0493946446766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 748.695706534269, + 405.64747085602994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 750.195706534269, + 408.24554706738326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 751.695706534269, + 410.8436232787366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 753.195706534269, + 413.4416994900899, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 753.195706534269, + 413.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 755.7937827456224, + 414.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 758.3918589569757, + 416.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 760.9899351683291, + 417.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 763.5880113796825, + 419.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 766.1860875910359, + 420.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 768.7841638023892, + 422.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 771.3822400137426, + 423.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 773.980316225096, + 425.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 776.5783924364493, + 426.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 779.1764686478027, + 428.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 781.7745448591561, + 429.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 784.3726210705095, + 431.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 786.9706972818628, + 432.9416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 789.5687734932162, + 434.4416994900899, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 792.1668497045696, + 435.9416994900899, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-11-58_454333378/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-11-58_454333378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ce97d149217ceb0c9c77039f5b9f8eb85e3f5f9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-11-58_454333378/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1663.7957466167527, + 39.81931021841069, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1662.2957466167527, + 37.221234007057376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1660.7957466167527, + 34.62315779570406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1659.2957466167527, + 32.025081584350744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1657.7957466167527, + 29.427005372997428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1656.2957466167527, + 26.828929161644112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1654.7957466167527, + 24.230852950290796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1653.2957466167527, + 21.63277673893748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1651.7957466167527, + 19.034700527584164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1650.2957466167527, + 16.436624316230848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1648.7957466167527, + 13.838548104877532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1647.2957466167527, + 11.240471893524216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1645.7957466167527, + 8.6423956821709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1644.2957466167527, + 6.044319470817584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1642.7957466167527, + 3.446243259464268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1641.2957466167527, + 0.8481670481109518, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1639.7957466167527, + -1.7499091632423642, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1638.2957466167527, + -4.34798537459568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1636.7957466167527, + -6.946061585948996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1635.2957466167527, + -9.544137797302312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1633.7957466167527, + -12.142214008655628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1632.2957466167527, + -14.740290220008944, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1630.7957466167527, + -17.33836643136226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1629.2957466167527, + -19.936442642715576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1627.7957466167527, + -22.534518854068892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1626.2957466167527, + -25.13259506542221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1624.7957466167527, + -27.730671276775524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1623.2957466167527, + -30.32874748812884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1621.7957466167527, + -32.926823699482156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1620.2957466167527, + -35.52489991083547, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1620.2957466167527, + -35.52489991083547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1620.2957466167527, + -38.52489991083547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1620.2957466167527, + -41.52489991083547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1620.2957466167527, + -44.52489991083547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1620.2957466167527, + -47.52489991083547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1620.2957466167527, + -50.52489991083547, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-12-17_972058109/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-12-17_972058109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad05ba2745b5e71f9eec6888bc6f0c4fb67257fc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-12-17_972058109/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1957.6783266980271, + 72.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1957.6783266980271, + 69.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1957.6783266980271, + 66.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1957.6783266980271, + 63.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1957.6783266980271, + 60.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1957.6783266980271, + 57.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1957.6783266980271, + 54.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1957.6783266980271, + 51.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1957.6783266980271, + 48.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1957.6783266980271, + 45.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1957.6783266980271, + 42.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1957.6783266980271, + 39.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1957.6783266980271, + 36.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1957.6783266980271, + 33.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1957.6783266980271, + 30.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1957.6783266980271, + 27.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1957.6783266980271, + 24.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1957.6783266980271, + 21.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1957.6783266980271, + 18.24997216660981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1957.6783266980271, + 15.249972166609808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1957.6783266980271, + 12.249972166609808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1957.6783266980271, + 9.249972166609808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1957.6783266980271, + 6.249972166609808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1957.6783266980271, + 3.2499721666098083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1957.6783266980271, + 0.24997216660980826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1957.6783266980271, + -2.7500278333901917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1957.6783266980271, + -5.750027833390192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1957.6783266980271, + -8.750027833390192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1957.6783266980271, + -11.750027833390192, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1957.6783266980271, + -11.750027833390192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1959.1783266980271, + -14.348104044743508, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1959.1783266980271, + -14.348104044743508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1961.7764029093805, + -15.848104044743508, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1961.7764029093805, + -15.848104044743508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1963.2764029093805, + -18.446180256096824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1964.7764029093805, + -21.04425646745014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1966.2764029093805, + -23.642332678803456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1967.7764029093805, + -26.240408890156772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1969.2764029093805, + -28.838485101510088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1970.7764029093805, + -31.436561312863404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1972.2764029093805, + -34.03463752421672, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1973.7764029093805, + -36.632713735570036, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1973.7764029093805, + -36.632713735570036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1973.7764029093805, + -39.632713735570036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1973.7764029093805, + -42.632713735570036, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-13_1131884850/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-13_1131884850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3049d325c7d964e224e9ac6dd10728a1b4807405 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-13_1131884850/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1896.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1899.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1902.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1905.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1908.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1911.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1914.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1917.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1920.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1923.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1926.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1929.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1932.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1932.2079032837853, + 435.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1934.8059794951387, + 433.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1937.404055706492, + 432.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1940.0021319178454, + 430.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1942.6002081291988, + 429.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1945.1982843405522, + 427.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1947.7963605519055, + 426.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1950.394436763259, + 424.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1952.9925129746123, + 423.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1955.5905891859657, + 421.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1958.188665397319, + 420.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1960.7867416086724, + 418.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1963.3848178200258, + 417.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1965.9828940313791, + 415.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1968.5809702427325, + 414.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1971.179046454086, + 412.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1973.7771226654393, + 411.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1976.3751988767926, + 409.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1978.973275088146, + 408.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1981.5713512994994, + 406.7083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1984.1694275108528, + 405.2083295944485, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1984.1694275108528, + 405.2083295944485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1987.1694275108528, + 405.2083295944485, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-58_1992576590/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-58_1992576590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad8991abf2aa43f14869325692b1534825b1cc32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-17-58_1992576590/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 311.04683753109856, + 153.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 311.04683753109856, + 156.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 311.04683753109856, + 159.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.04683753109856, + 162.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.04683753109856, + 165.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.04683753109856, + 168.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.04683753109856, + 171.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 311.04683753109856, + 174.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 311.04683753109856, + 177.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 311.04683753109856, + 180.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 311.04683753109856, + 183.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 311.04683753109856, + 186.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 311.04683753109856, + 189.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 311.04683753109856, + 192.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 311.04683753109856, + 195.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.04683753109856, + 198.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.04683753109856, + 201.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 311.04683753109856, + 204.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 311.04683753109856, + 207.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 311.04683753109856, + 210.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.04683753109856, + 213.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 311.04683753109856, + 216.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.04683753109856, + 219.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 311.04683753109856, + 222.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.04683753109856, + 225.55101715771616, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.04683753109856, + 225.55101715771616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.54683753109856, + 228.14909336906948, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 314.04683753109856, + 230.7471695804228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 315.54683753109856, + 233.3452457917761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.04683753109856, + 235.94332200312942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 318.54683753109856, + 238.54139821448274, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-18-16_235202254/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-18-16_235202254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..351a531c1cb55e67253bb75889ee565446f3ca9a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-18-16_235202254/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1840.5791345610605, + -144.4737467855549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1843.5791345610605, + -144.4737467855549, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1843.5791345610605, + -144.4737467855549, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1843.5791345610605, + -144.4737467855549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1845.0791345610605, + -141.8756705742016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1846.5791345610605, + -139.27759436284828, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1848.0791345610605, + -136.67951815149496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1849.5791345610605, + -134.08144194014164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1851.0791345610605, + -131.48336572878833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1852.5791345610605, + -128.885289517435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1854.0791345610605, + -126.2872133060817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1855.5791345610605, + -123.68913709472838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1857.0791345610605, + -121.09106088337506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1858.5791345610605, + -118.49298467202175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1860.0791345610605, + -115.89490846066843, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1861.5791345610605, + -113.29683224931512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1863.0791345610605, + -110.6987560379618, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1864.5791345610605, + -108.10067982660848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1866.0791345610605, + -105.50260361525517, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1866.0791345610605, + -105.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1868.677210772414, + -104.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1871.2752869837673, + -102.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1873.8733631951206, + -101.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1876.471439406474, + -99.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1879.0695156178274, + -98.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1881.6675918291808, + -96.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1884.2656680405341, + -95.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1886.8637442518875, + -93.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1889.4618204632409, + -92.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1892.0598966745943, + -90.50260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1894.6579728859476, + -89.00260361525517, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1894.6579728859476, + -89.00260361525517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1897.6579728859476, + -89.00260361525517, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-48-48_646755199/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-48-48_646755199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..305df87883551fc980d3bf0425e0efd60d702feb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-48-48_646755199/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1904.5283054858783, + -176.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1904.5283054858783, + -173.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1904.5283054858783, + -170.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1904.5283054858783, + -167.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1904.5283054858783, + -164.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1904.5283054858783, + -161.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1904.5283054858783, + -158.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1904.5283054858783, + -155.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1904.5283054858783, + -152.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1904.5283054858783, + -149.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1904.5283054858783, + -146.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1904.5283054858783, + -143.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1904.5283054858783, + -140.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1904.5283054858783, + -137.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1904.5283054858783, + -134.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1904.5283054858783, + -131.7064538021997, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1904.5283054858783, + -131.7064538021997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1903.0283054858783, + -129.10837759084637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1901.5283054858783, + -126.51030137949306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1900.0283054858783, + -123.91222516813974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1898.5283054858783, + -121.31414895678643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1897.0283054858783, + -118.71607274543311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1895.5283054858783, + -116.1179965340798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1894.0283054858783, + -113.51992032272648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1892.5283054858783, + -110.92184411137316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1891.0283054858783, + -108.32376790001985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1889.5283054858783, + -105.72569168866653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1888.0283054858783, + -103.12761547731321, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1886.5283054858783, + -100.5295392659599, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1885.0283054858783, + -97.93146305460658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1883.5283054858783, + -95.33338684325327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1882.0283054858783, + -92.73531063189995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1880.5283054858783, + -90.13723442054663, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-53-15_376696776/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-53-15_376696776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c30af1042665193312dccd56fceed905bdab6f1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-53-15_376696776/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1446.6966148564338, + 418.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1446.6966148564338, + 415.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1446.6966148564338, + 412.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1446.6966148564338, + 409.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1446.6966148564338, + 406.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1446.6966148564338, + 403.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1446.6966148564338, + 400.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1446.6966148564338, + 397.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1446.6966148564338, + 394.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1446.6966148564338, + 391.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1446.6966148564338, + 388.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1446.6966148564338, + 385.8514408216971, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1446.6966148564338, + 385.8514408216971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1448.1966148564338, + 383.2533646103438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1449.6966148564338, + 380.6552883989905, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1451.1966148564338, + 378.05721218763716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1452.6966148564338, + 375.45913597628385, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1454.1966148564338, + 372.86105976493053, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1455.6966148564338, + 370.2629835535772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1457.1966148564338, + 367.6649073422239, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1458.6966148564338, + 365.0668311308706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1460.1966148564338, + 362.46875491951727, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1460.1966148564338, + 362.46875491951727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1460.1966148564338, + 359.46875491951727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1460.1966148564338, + 356.46875491951727, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-54-11_242588954/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-54-11_242588954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa688d3fba757540a2ea9542f908cc2e8f90a50d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-54-11_242588954/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1489.7362056132117, + 359.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1489.7362056132117, + 362.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1489.7362056132117, + 365.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1489.7362056132117, + 368.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1489.7362056132117, + 371.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1489.7362056132117, + 374.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1489.7362056132117, + 377.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1489.7362056132117, + 380.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1489.7362056132117, + 383.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.7362056132117, + 386.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1489.7362056132117, + 389.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1489.7362056132117, + 392.0397821523335, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1489.7362056132117, + 392.0397821523335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1491.2362056132117, + 394.6378583636868, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1492.7362056132117, + 397.2359345750401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1494.2362056132117, + 399.83401078639343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1495.7362056132117, + 402.43208699774675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1497.2362056132117, + 405.03016320910007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1498.7362056132117, + 407.6282394204534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1500.2362056132117, + 410.2263156318067, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-55-20_1151297278/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-55-20_1151297278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbfca3bfe2a5f89759d0847c2e5afeb611b63de1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-55-20_1151297278/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -42.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -36.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -33.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -30.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -27.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -24.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -21.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -18.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -18.96201037658011, + 318.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -16.363934165226794, + 316.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -13.765857953873478, + 315.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -11.167781742520162, + 313.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -8.569705531166846, + 312.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -5.97162931981353, + 310.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -3.3735531084602144, + 309.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -0.7754768971068984, + 307.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1.8225993142464176, + 306.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4.420675525599734, + 304.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 7.01875173695305, + 303.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 9.616827948306366, + 301.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.214904159659682, + 300.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 14.812980371012998, + 298.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 17.411056582366314, + 297.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.00913279371963, + 295.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 22.607209005072946, + 294.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 25.20528521642626, + 292.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 27.803361427779578, + 291.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 30.401437639132894, + 289.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 32.99951385048621, + 288.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 35.597590061839526, + 286.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 38.19566627319284, + 285.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 40.79374248454616, + 283.52361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 43.391818695899474, + 282.02361211783636, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 45.98989490725279, + 280.52361211783636, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-31_987987334/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-31_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4bbcbd580dcb4c0cf99f70b12c98150aeef7abb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-31_987987334/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1874.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1877.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1880.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1883.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1886.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1889.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1892.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1895.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1898.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1901.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1904.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1907.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1910.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1913.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1916.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1919.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1922.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1922.1242905196123, + 446.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1924.7223667309656, + 445.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1927.320442942319, + 443.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1929.9185191536724, + 442.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1932.5165953650258, + 440.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1935.1146715763791, + 439.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1937.7127477877325, + 437.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1940.3108239990859, + 436.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1942.9089002104392, + 434.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1945.5069764217926, + 433.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1948.105052633146, + 431.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1950.7031288444994, + 430.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1953.3012050558527, + 428.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1955.899281267206, + 427.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1958.4973574785595, + 425.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1961.0954336899129, + 424.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1963.6935099012662, + 422.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1966.2915861126196, + 421.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1968.889662323973, + 419.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1971.4877385353263, + 418.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1974.0858147466797, + 416.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1976.683890958033, + 415.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1979.2819671693865, + 413.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1981.8800433807398, + 412.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1984.4781195920932, + 410.5749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1987.0761958034466, + 409.0749102177935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1989.6742720148, + 407.5749102177935, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-53_1162088421/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-53_1162088421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62b5b5d812b489cdfa48f524e870dea13e3f5459 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-0-53_1162088421/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1475.57252197151, + -288.96170553230166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1477.07252197151, + -286.36362932094835, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1478.57252197151, + -283.76555310959503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.07252197151, + -281.1674768982417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1481.57252197151, + -278.5694006868884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1483.07252197151, + -275.9713244755351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1484.57252197151, + -273.37324826418177, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1486.07252197151, + -270.77517205282845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1487.57252197151, + -268.17709584147514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.07252197151, + -265.5790196301218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1490.57252197151, + -262.9809434187685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1492.07252197151, + -260.3828672074152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1493.57252197151, + -257.7847909960619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1495.07252197151, + -255.18671478470856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1496.57252197151, + -252.58863857335524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1498.07252197151, + -249.99056236200192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1499.57252197151, + -247.3924861506486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1501.07252197151, + -244.7944099392953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1502.57252197151, + -242.19633372794198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1504.07252197151, + -239.59825751658866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1505.57252197151, + -237.00018130523534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1507.07252197151, + -234.40210509388203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1508.57252197151, + -231.8040288825287, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1510.07252197151, + -229.2059526711754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1511.57252197151, + -226.60787645982208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1513.07252197151, + -224.00980024846876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1514.57252197151, + -221.41172403711545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1516.07252197151, + -218.81364782576213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1517.57252197151, + -216.21557161440882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1519.07252197151, + -213.6174954030555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1520.57252197151, + -211.01941919170218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1522.07252197151, + -208.42134298034887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1523.57252197151, + -205.82326676899555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1525.07252197151, + -203.22519055764224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1526.57252197151, + -200.62711434628892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1528.07252197151, + -198.0290381349356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1529.57252197151, + -195.4309619235823, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1531.07252197151, + -192.83288571222897, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-27_2078107280/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-27_2078107280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9a1928a0ffdd6d11c7f0803260c7446029cde9b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-27_2078107280/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1631.9650100821293, + -237.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1629.366933870776, + -235.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1626.7688576594226, + -234.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1624.1707814480692, + -232.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1621.5727052367158, + -231.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1618.9746290253624, + -229.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1616.376552814009, + -228.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1613.7784766026557, + -226.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1611.1804003913023, + -225.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1608.582324179949, + -223.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1605.9842479685956, + -222.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1603.3861717572422, + -220.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1600.7880955458888, + -219.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1598.1900193345355, + -217.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1595.591943123182, + -216.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1592.9938669118287, + -214.67476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1590.3957907004753, + -213.17476573590557, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1590.3957907004753, + -213.17476573590557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1588.8957907004753, + -210.57668952455225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1587.3957907004753, + -207.97861331319893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1585.8957907004753, + -205.38053710184562, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1584.3957907004753, + -202.7824608904923, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1582.8957907004753, + -200.184384679139, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1581.3957907004753, + -197.58630846778567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1579.8957907004753, + -194.98823225643235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1578.3957907004753, + -192.39015604507904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1576.8957907004753, + -189.79207983372572, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-43_234576987/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-43_234576987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f9f9040a1644b5a90c10919a34d71f0b522ab26 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-43_234576987/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 12.380312018096149, + 189.51158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 14.978388229449465, + 191.01158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 17.57646444080278, + 192.51158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.174540652156097, + 194.01158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 22.772616863509413, + 195.51158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 25.37069307486273, + 197.01158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.968769286216045, + 198.51158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 30.56684549756936, + 200.01158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 33.16492170892268, + 201.51158469617155, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 33.16492170892268, + 201.51158469617155, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 34.66492170892268, + 204.10966090752487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.16492170892268, + 206.70773711887819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 37.66492170892268, + 209.3058133302315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 39.16492170892268, + 211.90388954158482, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.66492170892268, + 214.50196575293813, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 42.16492170892268, + 217.10004196429145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 43.66492170892268, + 219.69811817564477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 45.16492170892268, + 222.29619438699808, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.16492170892268, + 222.29619438699808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 47.76299792027599, + 223.79619438699808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 50.36107413162931, + 225.29619438699808, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-56_1866355856/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-56_1866355856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aeb9f64df7753306a1e22652dc9d38eec5bb837b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-10-56_1866355856/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 666.8833497132468, + -35.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 664.2852735018935, + -37.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 661.6871972905401, + -38.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 659.0891210791867, + -40.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 656.4910448678334, + -41.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 653.89296865648, + -43.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 651.2948924451266, + -44.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 648.6968162337732, + -46.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 646.0987400224199, + -47.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 643.5006638110665, + -49.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 640.9025875997131, + -50.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 638.3045113883597, + -52.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 635.7064351770064, + -53.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 633.108358965653, + -55.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 630.5102827542996, + -56.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 627.9122065429463, + -58.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 625.3141303315929, + -59.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 622.7160541202395, + -61.311111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 620.1179779088861, + -62.811111137746806, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 617.5199016975328, + -64.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 614.9218254861794, + -65.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 612.323749274826, + -67.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 609.7256730634726, + -68.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 607.1275968521193, + -70.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 604.5295206407659, + -71.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 601.9314444294125, + -73.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 599.3333682180591, + -74.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 596.7352920067058, + -76.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 594.1372157953524, + -77.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 591.539139583999, + -79.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 588.9410633726457, + -80.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 586.3429871612923, + -82.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 583.7449109499389, + -83.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 581.1468347385855, + -85.3111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 578.5487585272322, + -86.8111111377468, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 578.5487585272322, + -86.8111111377468, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 577.0487585272322, + -89.40918734910012, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 575.5487585272322, + -92.00726356045344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 574.0487585272322, + -94.60533977180675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 572.5487585272322, + -97.20341598316007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 571.0487585272322, + -99.80149219451339, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 569.5487585272322, + -102.3995684058667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 568.0487585272322, + -104.99764461722002, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-30_2083149517/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-30_2083149517/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab8f528122f9e18d4392d493b7892e1c96b1dd74 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-30_2083149517/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1357.5633118487426, + 731.1496875133827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1359.0633118487426, + 733.7477637247359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1360.5633118487426, + 736.3458399360893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1362.0633118487426, + 738.9439161474427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1363.5633118487426, + 741.541992358796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.0633118487426, + 744.1400685701494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1366.5633118487426, + 746.7381447815028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1368.0633118487426, + 749.3362209928562, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1369.5633118487426, + 751.9342972042095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1371.0633118487426, + 754.5323734155629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1372.5633118487426, + 757.1304496269163, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1372.5633118487426, + 757.1304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1375.161388060096, + 758.6304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1377.7594642714494, + 760.1304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1380.3575404828027, + 761.6304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1382.955616694156, + 763.1304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1385.5536929055095, + 764.6304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1388.1517691168629, + 766.1304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1390.7498453282162, + 767.6304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1393.3479215395696, + 769.1304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1395.945997750923, + 770.6304496269163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1398.5440739622763, + 772.1304496269163, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-43_2058907361/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-43_2058907361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..534509ba46bf1a96f29cf7740853f91076712ecb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-13-43_2058907361/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -8.167866216103338, + 501.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -8.167866216103338, + 498.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -8.167866216103338, + 495.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -8.167866216103338, + 492.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -8.167866216103338, + 489.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -8.167866216103338, + 486.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -8.167866216103338, + 483.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -8.167866216103338, + 480.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -8.167866216103338, + 477.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.167866216103338, + 474.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -8.167866216103338, + 471.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -8.167866216103338, + 468.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -8.167866216103338, + 465.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -8.167866216103338, + 462.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -8.167866216103338, + 459.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.167866216103338, + 456.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -8.167866216103338, + 453.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -8.167866216103338, + 450.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -8.167866216103338, + 447.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -8.167866216103338, + 444.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -8.167866216103338, + 441.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -8.167866216103338, + 438.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -8.167866216103338, + 435.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.167866216103338, + 432.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -8.167866216103338, + 429.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -8.167866216103338, + 426.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.167866216103338, + 423.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.167866216103338, + 420.8425621727025, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -8.167866216103338, + 420.8425621727025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.667866216103338, + 418.2444859613492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -11.167866216103338, + 415.6464097499959, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -12.667866216103338, + 413.04833353864257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -14.167866216103338, + 410.45025732728925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.667866216103338, + 407.85218111593593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -17.167866216103338, + 405.2541049045826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -18.667866216103338, + 402.6560286932293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -20.167866216103338, + 400.057952481876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -21.667866216103338, + 397.45987627052267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -23.167866216103338, + 394.86180005916935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -24.667866216103338, + 392.26372384781604, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-55_878273679/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-55_878273679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9d150fb784f841de8ee6b33f8a6aa3735bfd634 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-17-55_878273679/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1197.6009335826468, + 767.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1195.0028573712934, + 765.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1192.40478115994, + 764.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1189.8067049485867, + 762.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1187.2086287372333, + 761.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1184.61055252588, + 759.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1182.0124763145266, + 758.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1179.4144001031732, + 756.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1176.8163238918198, + 755.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1174.2182476804664, + 753.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1171.620171469113, + 752.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1169.0220952577597, + 750.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1166.4240190464063, + 749.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1163.825942835053, + 747.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1161.2278666236996, + 746.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1158.6297904123462, + 744.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1156.0317142009928, + 743.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1153.4336379896395, + 741.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1150.835561778286, + 740.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1148.2374855669327, + 738.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1145.6394093555793, + 737.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1143.041333144226, + 735.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1140.4432569328726, + 734.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1137.8451807215192, + 732.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1135.2471045101659, + 731.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1132.6490282988125, + 729.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1130.050952087459, + 728.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1127.4528758761057, + 726.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1124.8547996647524, + 725.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1122.256723453399, + 723.6097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1119.6586472420456, + 722.1097737904341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1117.0605710306922, + 720.6097737904341, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-18-14_987706141/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-18-14_987706141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e66724e3685f9c474aa8e977c63660dcdf35cc64 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-18-14_987706141/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1132.484056250432, + 389.160969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1135.0821324617855, + 390.660969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1137.6802086731388, + 392.160969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1140.2782848844922, + 393.660969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1142.8763610958456, + 395.160969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1145.474437307199, + 396.660969016627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1148.0725135185523, + 398.160969016627, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-21-10_825726814/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-21-10_825726814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f1f77ac03fa1eae9eafd22a3c88b607a420fbc7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-21-10_825726814/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1171.4925340891689, + 568.2170393745348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1172.9925340891689, + 565.6189631631814, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1174.4925340891689, + 563.0208869518281, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1175.9925340891689, + 560.4228107404747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1177.4925340891689, + 557.8247345291213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1178.9925340891689, + 555.2266583177679, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1180.4925340891689, + 552.6285821064146, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1181.9925340891689, + 550.0305058950612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1183.4925340891689, + 547.4324296837078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1184.9925340891689, + 544.8343534723545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1186.4925340891689, + 542.2362772610011, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1187.9925340891689, + 539.6382010496477, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1189.4925340891689, + 537.0401248382943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1190.9925340891689, + 534.442048626941, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1192.4925340891689, + 531.8439724155876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1193.9925340891689, + 529.2458962042342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1195.4925340891689, + 526.6478199928808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1196.9925340891689, + 524.0497437815275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1198.4925340891689, + 521.4516675701741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1199.9925340891689, + 518.8535913588207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1201.4925340891689, + 516.2555151474673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1202.9925340891689, + 513.657438936114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1204.4925340891689, + 511.05936272476066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1205.9925340891689, + 508.46128651340734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1207.4925340891689, + 505.86321030205403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1208.9925340891689, + 503.2651340907007, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-22-19_221713886/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-22-19_221713886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30ab2e4f72a862e303951cb35c865cafe8b6c83d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-22-19_221713886/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1871.923555316332, + 33.903220539429455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1873.423555316332, + 31.30514432807614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1874.923555316332, + 28.707068116722823, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1876.423555316332, + 26.108991905369507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1877.923555316332, + 23.51091569401619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1879.423555316332, + 20.912839482662875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1880.923555316332, + 18.31476327130956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1882.423555316332, + 15.716687059956243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1883.923555316332, + 13.118610848602927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1885.423555316332, + 10.520534637249611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1886.923555316332, + 7.922458425896295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1888.423555316332, + 5.324382214542979, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1889.923555316332, + 2.726306003189663, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1891.423555316332, + 0.12822979183634686, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1891.423555316332, + 0.12822979183634686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1894.0216315276855, + -1.371770208163653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1896.6197077390389, + -2.8717702081636527, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1899.2177839503922, + -4.371770208163652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1901.8158601617456, + -5.871770208163652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1904.413936373099, + -7.371770208163652, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1907.0120125844523, + -8.871770208163651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1909.6100887958057, + -10.371770208163651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1912.208165007159, + -11.871770208163651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1914.8062412185125, + -13.371770208163651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1917.4043174298658, + -14.871770208163651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1920.0023936412192, + -16.37177020816365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982888 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1922.6004698525726, + -17.87177020816365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1925.198546063926, + -19.37177020816365, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1925.198546063926, + -19.37177020816365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1928.198546063926, + -19.37177020816365, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-27-1_1607774548/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-27-1_1607774548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06aa71fd254199c2dbfded578b2bf962b8826924 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-27-1_1607774548/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1798.796092763988, + 144.1471887817312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1800.296092763988, + 141.54911257037787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1801.796092763988, + 138.95103635902456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1803.296092763988, + 136.35296014767124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1804.796092763988, + 133.75488393631792, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1806.296092763988, + 131.1568077249646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1807.796092763988, + 128.5587315136113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1809.296092763988, + 125.96065530225798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1810.796092763988, + 123.36257909090466, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1812.296092763988, + 120.76450287955134, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1813.796092763988, + 118.16642666819803, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1815.296092763988, + 115.56835045684471, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1816.796092763988, + 112.9702742454914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1818.296092763988, + 110.37219803413808, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1818.296092763988, + 110.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1818.296092763988, + 107.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1818.296092763988, + 104.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1818.296092763988, + 101.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1818.296092763988, + 98.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1818.296092763988, + 95.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1818.296092763988, + 92.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1818.296092763988, + 89.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1818.296092763988, + 86.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1818.296092763988, + 83.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1818.296092763988, + 80.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1818.296092763988, + 77.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1818.296092763988, + 74.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1818.296092763988, + 71.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1818.296092763988, + 68.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1818.296092763988, + 65.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1818.296092763988, + 62.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1818.296092763988, + 59.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1818.296092763988, + 56.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1818.296092763988, + 53.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1818.296092763988, + 50.37219803413808, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1818.296092763988, + 50.37219803413808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1819.796092763988, + 47.774121822784764, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-41-57_1970090192/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-41-57_1970090192/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..438687cfab53df4066fc349523328a60ad05fa8e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-41-57_1970090192/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 536.3226653446078, + 225.87721789773093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 537.8226653446078, + 223.2791416863776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 539.3226653446078, + 220.6810654750243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 540.8226653446078, + 218.08298926367098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 542.3226653446078, + 215.48491305231767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 543.8226653446078, + 212.88683684096435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 545.3226653446078, + 210.28876062961103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 546.8226653446078, + 207.69068441825772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 548.3226653446078, + 205.0926082069044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 549.8226653446078, + 202.49453199555109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 551.3226653446078, + 199.89645578419777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 552.8226653446078, + 197.29837957284445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 554.3226653446078, + 194.70030336149114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 555.8226653446078, + 192.10222715013782, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 557.3226653446078, + 189.5041509387845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 558.8226653446078, + 186.9060747274312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 560.3226653446078, + 184.30799851607787, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 560.3226653446078, + 184.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 560.3226653446078, + 181.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 560.3226653446078, + 178.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 560.3226653446078, + 175.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 560.3226653446078, + 172.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 560.3226653446078, + 169.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 560.3226653446078, + 166.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 560.3226653446078, + 163.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 560.3226653446078, + 160.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 560.3226653446078, + 157.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 560.3226653446078, + 154.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 560.3226653446078, + 151.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 560.3226653446078, + 148.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 560.3226653446078, + 145.30799851607787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 560.3226653446078, + 142.30799851607787, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-17_1139352160/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-17_1139352160/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cdf28cc8a9ad4c355eb703b8588b7d634a798e4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-17_1139352160/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1984.460418588978, + 55.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1984.460418588978, + 52.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1984.460418588978, + 49.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1984.460418588978, + 46.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1984.460418588978, + 43.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1984.460418588978, + 40.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1984.460418588978, + 37.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1984.460418588978, + 34.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1984.460418588978, + 31.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1984.460418588978, + 28.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1984.460418588978, + 25.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1984.460418588978, + 22.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1984.460418588978, + 19.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1984.460418588978, + 16.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1984.460418588978, + 13.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1984.460418588978, + 10.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1984.460418588978, + 7.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1984.460418588978, + 4.59563297027691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1984.460418588978, + 1.5956329702769096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1984.460418588978, + -1.4043670297230904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1984.460418588978, + -4.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1984.460418588978, + -7.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1984.460418588978, + -10.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1984.460418588978, + -13.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1984.460418588978, + -16.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1984.460418588978, + -19.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1984.460418588978, + -22.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1984.460418588978, + -25.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1984.460418588978, + -28.40436702972309, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1984.460418588978, + -28.40436702972309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1982.960418588978, + -31.002443241076406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1981.460418588978, + -33.60051945242972, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1979.960418588978, + -36.19859566378304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1978.460418588978, + -38.796671875136354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1976.960418588978, + -41.39474808648967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1975.460418588978, + -43.992824297842986, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-53_530406424/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-53_530406424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6185adc1037cc94deffbe6150efdea4e06ca17a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-52-53_530406424/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1724.191069995088, + 509.27105238905676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1725.691069995088, + 506.67297617770345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1727.191069995088, + 504.07489996635013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1728.691069995088, + 501.4768237549968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1730.191069995088, + 498.8787475436435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1731.691069995088, + 496.2806713322902, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1733.191069995088, + 493.68259512093687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1734.691069995088, + 491.08451890958355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1736.191069995088, + 488.48644269823023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1737.691069995088, + 485.8883664868769, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1739.191069995088, + 483.2902902755236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1740.691069995088, + 480.6922140641703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1742.191069995088, + 478.09413785281697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1743.691069995088, + 475.49606164146365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1745.191069995088, + 472.89798543011034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1746.691069995088, + 470.299909218757, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1748.191069995088, + 467.7018330074037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1749.691069995088, + 465.1037567960504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1751.191069995088, + 462.5056805846971, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1751.191069995088, + 462.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1751.191069995088, + 459.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1751.191069995088, + 456.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1751.191069995088, + 453.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1751.191069995088, + 450.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1751.191069995088, + 447.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1751.191069995088, + 444.5056805846971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1751.191069995088, + 441.5056805846971, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-58-31_1259577690/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-58-31_1259577690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6ee276cf61b75d31bb0dd66a7e7c15d56c34a7b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-58-31_1259577690/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1987.6920205537167, + 233.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1987.6920205537167, + 230.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1987.6920205537167, + 227.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1987.6920205537167, + 224.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1987.6920205537167, + 221.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1987.6920205537167, + 218.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1987.6920205537167, + 215.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1987.6920205537167, + 212.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1987.6920205537167, + 209.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1987.6920205537167, + 206.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1987.6920205537167, + 203.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1987.6920205537167, + 200.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1987.6920205537167, + 197.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1987.6920205537167, + 194.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1987.6920205537167, + 191.1114455457218, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1987.6920205537167, + 191.1114455457218, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1987.6920205537167, + 191.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1990.29009676507, + 189.6114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1992.8881729764234, + 188.1114455457218, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1992.8881729764234, + 188.1114455457218, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1994.3881729764234, + 185.5133693343685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1995.8881729764234, + 182.91529312301518, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-18_1119399015/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-18_1119399015/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da1350a82eb2bed3bbf9b8de5a738d419c169052 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-6-18_1119399015/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1016.9672750613687, + 778.4188816057771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1019.9672750613687, + 778.4188816057771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1022.9672750613687, + 778.4188816057771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1025.9672750613686, + 778.4188816057771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1028.9672750613686, + 778.4188816057771, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1028.9672750613686, + 778.4188816057771, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1028.9672750613686, + 778.4188816057771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1030.4672750613686, + 775.8208053944238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1031.9672750613686, + 773.2227291830704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1033.4672750613686, + 770.6246529717171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1034.9672750613686, + 768.0265767603637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1036.4672750613686, + 765.4285005490103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1037.9672750613686, + 762.830424337657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1039.4672750613686, + 760.2323481263036, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1040.9672750613686, + 757.6342719149502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1042.4672750613686, + 755.0361957035968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1043.9672750613686, + 752.4381194922435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1045.4672750613686, + 749.8400432808901, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1046.9672750613686, + 747.2419670695367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1048.4672750613686, + 744.6438908581833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1049.9672750613686, + 742.04581464683, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1051.4672750613686, + 739.4477384354766, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1051.4672750613686, + 739.4477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1054.065351272722, + 737.9477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1056.6634274840753, + 736.4477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1059.2615036954287, + 734.9477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1061.859579906782, + 733.4477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1064.4576561181354, + 731.9477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1067.0557323294888, + 730.4477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1069.6538085408422, + 728.9477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1072.2518847521956, + 727.4477384354766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1074.849960963549, + 725.9477384354766, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-4_1384079421/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-4_1384079421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de76a7becb246405957095a02043beb32963fac6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-4_1384079421/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1977.7539560933367, + -189.2683336592223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1976.2539560933367, + -186.67025744786898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1974.7539560933367, + -184.07218123651566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1973.2539560933367, + -181.47410502516234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1971.7539560933367, + -178.87602881380903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1970.2539560933367, + -176.2779526024557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1968.7539560933367, + -173.6798763911024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1967.2539560933367, + -171.08180017974908, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1965.7539560933367, + -168.48372396839576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1964.2539560933367, + -165.88564775704245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1962.7539560933367, + -163.28757154568913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1961.2539560933367, + -160.68949533433582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1959.7539560933367, + -158.0914191229825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1958.2539560933367, + -155.49334291162918, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1956.7539560933367, + -152.89526670027587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1955.2539560933367, + -150.29719048892255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1953.7539560933367, + -147.69911427756924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1952.2539560933367, + -145.10103806621592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1950.7539560933367, + -142.5029618548626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1949.2539560933367, + -139.9048856435093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1947.7539560933367, + -137.30680943215597, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1946.2539560933367, + -134.70873322080266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1944.7539560933367, + -132.11065700944934, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1943.2539560933367, + -129.51258079809602, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1943.2539560933367, + -129.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1943.2539560933367, + -126.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1943.2539560933367, + -123.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1943.2539560933367, + -120.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1943.2539560933367, + -117.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1943.2539560933367, + -114.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1943.2539560933367, + -111.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1943.2539560933367, + -108.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1943.2539560933367, + -105.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1943.2539560933367, + -102.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1943.2539560933367, + -99.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1943.2539560933367, + -96.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1943.2539560933367, + -93.51258079809602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1943.2539560933367, + -90.51258079809602, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-58_836802671/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-58_836802671/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9acf55b503357d46f49a9ebcb94e04771be92d1c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-0-58_836802671/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1838.7690181091673, + 266.5771504506988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1840.2690181091673, + 269.1752266620521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1841.7690181091673, + 271.77330287340544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1843.2690181091673, + 274.37137908475876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1844.7690181091673, + 276.9694552961121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1846.2690181091673, + 279.5675315074654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1847.7690181091673, + 282.1656077188187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1849.2690181091673, + 284.763683930172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1850.7690181091673, + 287.36176014152534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1852.2690181091673, + 289.95983635287865, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1853.7690181091673, + 292.55791256423197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1855.2690181091673, + 295.1559887755853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1856.7690181091673, + 297.7540649869386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1858.2690181091673, + 300.3521411982919, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1858.2690181091673, + 300.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1860.8670943205207, + 301.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1863.465170531874, + 303.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1866.0632467432274, + 304.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1868.6613229545808, + 306.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1871.2593991659342, + 307.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1873.8574753772875, + 309.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1876.455551588641, + 310.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1879.0536277999943, + 312.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1881.6517040113476, + 313.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1884.249780222701, + 315.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1886.8478564340544, + 316.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1889.4459326454078, + 318.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1892.0440088567611, + 319.8521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1894.6420850681145, + 321.3521411982919, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1894.6420850681145, + 321.3521411982919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1896.1420850681145, + 323.95021740964523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1897.6420850681145, + 326.54829362099855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1899.1420850681145, + 329.14636983235187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1900.6420850681145, + 331.7444460437052, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1902.1420850681145, + 334.3425222550585, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1902.1420850681145, + 334.3425222550585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1904.7401612794679, + 335.8425222550585, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-22-25_573666704/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-22-25_573666704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..007cb3f1fff3f9b61d3e02e8db264fa763ba3cef --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-22-25_573666704/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 616.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 619.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 622.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 625.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 628.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 631.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 634.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 640.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 643.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 646.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 649.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 652.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 655.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 658.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 661.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 664.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 664.276391804013, + 29.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 666.8744680153663, + 30.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 669.4725442267197, + 32.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 672.0706204380731, + 33.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 674.6686966494265, + 35.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 677.2667728607798, + 36.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 679.8648490721332, + 38.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 682.4629252834866, + 39.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 685.06100149484, + 41.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 687.6590777061933, + 42.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 690.2571539175467, + 44.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 692.8552301289001, + 45.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 695.4533063402534, + 47.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 698.0513825516068, + 48.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 700.6494587629602, + 50.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 703.2475349743136, + 51.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 705.8456111856669, + 53.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 708.4436873970203, + 54.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 711.0417636083737, + 56.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 713.6398398197271, + 57.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 716.2379160310804, + 59.17362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 718.8359922424338, + 60.67362705259194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 721.4340684537872, + 62.17362705259194, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-28-3_2125023787/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-28-3_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9cf0a9f009652edf4632a08ae1996f94ce10ac8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-28-3_2125023787/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1924.6797949415616, + 90.26851721223406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1927.6797949415616, + 90.26851721223406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1930.6797949415616, + 90.26851721223406, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1930.6797949415616, + 90.26851721223406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1933.277871152915, + 88.76851721223406, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1933.277871152915, + 88.76851721223406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1934.777871152915, + 86.17044100088074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1936.277871152915, + 83.57236478952743, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1936.277871152915, + 83.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1938.8759473642683, + 82.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1941.4740235756217, + 80.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1944.072099786975, + 79.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1946.6701759983284, + 77.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1949.2682522096818, + 76.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1951.8663284210352, + 74.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1954.4644046323886, + 73.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1957.062480843742, + 71.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1959.6605570550953, + 70.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.2586332664487, + 68.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1964.856709477802, + 67.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1967.4547856891554, + 65.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1970.0528619005088, + 64.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1972.6509381118622, + 62.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1975.2490143232155, + 61.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1977.847090534569, + 59.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1980.4451667459223, + 58.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1983.0432429572757, + 56.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1985.641319168629, + 55.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1988.2393953799824, + 53.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1990.8374715913358, + 52.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1993.4355478026891, + 50.57236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1996.0336240140425, + 49.07236478952743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1998.631700225396, + 47.57236478952743, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-4_1435001171/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-4_1435001171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..891644d38937541fe0bd3097e7e42a862d0f54ac --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-4_1435001171/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1677.7864336989605, + -236.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1675.1883574876072, + -235.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1672.5902812762538, + -233.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1669.9922050649004, + -232.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1667.394128853547, + -230.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1664.7960526421937, + -229.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1662.1979764308403, + -227.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1659.599900219487, + -226.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1657.0018240081336, + -224.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1654.4037477967802, + -223.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1651.8056715854268, + -221.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1649.2075953740734, + -220.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1646.60951916272, + -218.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1644.0114429513667, + -217.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1641.4133667400133, + -215.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1638.81529052866, + -214.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1636.2172143173066, + -212.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1633.6191381059532, + -211.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1631.0210618945998, + -209.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1628.4229856832465, + -208.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1625.824909471893, + -206.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1623.2268332605397, + -205.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1620.6287570491863, + -203.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1618.030680837833, + -202.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1615.4326046264796, + -200.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1612.8345284151262, + -199.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1610.2364522037728, + -197.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1607.6383759924195, + -196.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1605.040299781066, + -194.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1602.4422235697127, + -193.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1599.8441473583594, + -191.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1597.246071147006, + -190.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1594.6479949356526, + -188.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1592.0499187242992, + -187.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1589.4518425129459, + -185.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1586.8537663015925, + -184.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1584.255690090239, + -182.61260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1581.6576138788857, + -181.11260008106427, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1581.6576138788857, + -181.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1578.6576138788857, + -181.11260008106427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1575.6576138788857, + -181.11260008106427, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-58_1199680559/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-58_1199680559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da4bb26eba7a3a6170897093be21bedb5979a6b6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-58_1199680559/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1893.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1896.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1899.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1902.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1905.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1908.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1911.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1914.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1917.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1920.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1923.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1926.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1929.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1932.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1935.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1935.1927618805112, + 443.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1937.7908380918645, + 444.6245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1940.388914303218, + 446.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1942.9869905145713, + 447.6245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1945.5850667259247, + 449.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1948.183142937278, + 450.6245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1950.7812191486314, + 452.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1953.3792953599848, + 453.6245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1955.9773715713382, + 455.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1958.5754477826915, + 456.6245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1961.173523994045, + 458.1245253440969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.7716002053983, + 459.6245253440969, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-44_144874089/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-44_144874089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..328310dbcb4aabc6009ce92c372cdd8ea6e6fbfd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-42-44_144874089/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1885.3397225494334, + 439.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1882.74164633808, + 437.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1880.1435701267267, + 436.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1877.5454939153733, + 434.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1874.94741770402, + 433.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1872.3493414926666, + 431.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1869.7512652813132, + 430.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1867.1531890699598, + 428.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1864.5551128586064, + 427.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1861.957036647253, + 425.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1859.3589604358997, + 424.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1856.7608842245463, + 422.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1854.162808013193, + 421.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1851.5647318018396, + 419.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1848.9666555904862, + 418.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1846.3685793791328, + 416.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1843.7705031677795, + 415.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1841.172426956426, + 413.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1838.5743507450727, + 412.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1835.9762745337193, + 410.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1833.378198322366, + 409.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1830.7801221110126, + 407.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1828.1820458996592, + 406.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1825.5839696883058, + 404.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1822.9858934769525, + 403.1669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1820.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1820.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1817.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1814.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1811.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1808.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1805.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1802.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1799.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1796.387817265599, + 401.6669820227903, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-49-2_1642663198/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-49-2_1642663198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42cf03bb04757c9f8f4a9d8c8b5a114cf44fc0f9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-49-2_1642663198/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 651.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 648.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 642.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 639.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 636.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 633.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 630.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 627.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 624.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 621.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 618.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 615.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 612.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 609.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 606.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 603.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 600.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 597.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 594.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 591.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 588.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 585.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 582.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 579.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 579.0443307026358, + -125.63963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 576.4462544912824, + -124.13963475507221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 573.848178279929, + -122.63963475507221, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-53-38_1541417540/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-53-38_1541417540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c98dfa43ead688f412fae01fca9cdb1b58398926 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-53-38_1541417540/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1974.9152351675498, + -175.33555548067858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1973.4152351675498, + -172.73747926932526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1971.9152351675498, + -170.13940305797195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1970.4152351675498, + -167.54132684661863, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1968.9152351675498, + -164.94325063526531, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1967.4152351675498, + -162.345174423912, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1965.9152351675498, + -159.74709821255868, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1964.4152351675498, + -157.14902200120537, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1962.9152351675498, + -154.55094578985205, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1961.4152351675498, + -151.95286957849873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1959.9152351675498, + -149.35479336714542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1958.4152351675498, + -146.7567171557921, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1956.9152351675498, + -144.1586409444388, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1955.4152351675498, + -141.56056473308547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1953.9152351675498, + -138.96248852173215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1952.4152351675498, + -136.36441231037884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1950.9152351675498, + -133.76633609902552, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1949.4152351675498, + -131.1682598876722, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1947.9152351675498, + -128.5701836763189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1946.4152351675498, + -125.97210746496557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1944.9152351675498, + -123.37403125361226, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1944.9152351675498, + -123.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1944.9152351675498, + -120.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1944.9152351675498, + -117.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1944.9152351675498, + -114.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1944.9152351675498, + -111.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1944.9152351675498, + -108.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1944.9152351675498, + -105.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1944.9152351675498, + -102.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1944.9152351675498, + -99.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1944.9152351675498, + -96.37403125361226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1944.9152351675498, + -93.37403125361226, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-17_877068972/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-17_877068972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5470fd059c6d76094a9c453bb33e81a6ece3b25a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-54-17_877068972/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1739.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1742.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1745.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1748.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1751.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1754.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1757.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1760.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1763.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1766.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1769.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1772.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1772.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1772.743878891346, + 214.58056669675688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1774.243878891346, + 211.98249048540356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1775.743878891346, + 209.38441427405024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1777.243878891346, + 206.78633806269693, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1778.743878891346, + 204.1882618513436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1780.243878891346, + 201.5901856399903, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1780.243878891346, + 201.5901856399903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1782.8419551026993, + 200.0901856399903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1785.4400313140527, + 198.5901856399903, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-55-48_1731190952/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-55-48_1731190952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d54ea7e1afa9280b5d678f84b6d02dbeb24b65be --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-55-48_1731190952/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -67.4919219293756, + 466.5050628905773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -65.9919219293756, + 463.90698667922396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -64.4919219293756, + 461.30891046787065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -62.99192192937559, + 458.71083425651733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.49192192937559, + 456.112758045164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -59.99192192937559, + 453.5146818338107, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -58.49192192937559, + 450.9166056224574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -56.99192192937559, + 448.31852941110407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -55.49192192937559, + 445.72045319975075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -53.99192192937559, + 443.12237698839743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -52.49192192937559, + 440.5243007770441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -50.99192192937559, + 437.9262245656908, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.49192192937559, + 435.3281483543375, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -47.99192192937559, + 432.73007214298417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -46.49192192937559, + 430.13199593163085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -44.99192192937559, + 427.53391972027754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -43.49192192937559, + 424.9358435089242, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -41.99192192937559, + 422.3377672975709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -40.49192192937559, + 419.7396910862176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -38.99192192937559, + 417.1416148748643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -37.49192192937559, + 414.54353866351096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -35.99192192937559, + 411.94546245215764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -34.49192192937559, + 409.3473862408043, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -34.49192192937559, + 409.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -34.49192192937559, + 406.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -34.49192192937559, + 403.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -34.49192192937559, + 400.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -34.49192192937559, + 397.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -34.49192192937559, + 394.3473862408043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -34.49192192937559, + 391.3473862408043, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-56-5_832077645/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-56-5_832077645/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba8fda02b1712ab820e4e93598b5e5803b842db0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-56-5_832077645/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1911.9209441635446, + 300.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1914.9209441635446, + 300.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1917.9209441635446, + 300.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1920.9209441635446, + 300.13567711996745, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1920.9209441635446, + 300.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1923.519020374898, + 301.63567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1926.1170965862514, + 303.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1928.7151727976047, + 304.63567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1931.313249008958, + 306.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1933.9113252203115, + 307.63567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1936.5094014316649, + 309.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1939.1074776430182, + 310.63567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1941.7055538543716, + 312.13567711996745, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1941.7055538543716, + 312.13567711996745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1943.2055538543716, + 314.73375333132077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1944.7055538543716, + 317.3318295426741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1946.2055538543716, + 319.9299057540274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1947.7055538543716, + 322.5279819653807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1949.2055538543716, + 325.12605817673403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1950.7055538543716, + 327.72413438808735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1952.2055538543716, + 330.32221059944067, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1953.7055538543716, + 332.920286810794, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1955.2055538543716, + 335.5183630221473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1956.7055538543716, + 338.1164392335006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1958.2055538543716, + 340.71451544485393, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1959.7055538543716, + 343.31259165620725, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1961.2055538543716, + 345.91066786756056, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1962.7055538543716, + 348.5087440789139, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1964.2055538543716, + 351.1068202902672, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1965.7055538543716, + 353.7048965016205, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1967.2055538543716, + 356.3029727129738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1968.7055538543716, + 358.90104892432714, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1970.2055538543716, + 361.49912513568046, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1971.7055538543716, + 364.0972013470338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1973.2055538543716, + 366.6952775583871, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1974.7055538543716, + 369.2933537697404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1976.2055538543716, + 371.8914299810937, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1977.7055538543716, + 374.48950619244704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1979.2055538543716, + 377.08758240380035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1980.7055538543716, + 379.68565861515367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1982.2055538543716, + 382.283734826507, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1982.2055538543716, + 382.283734826507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1984.803630065725, + 383.783734826507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1987.4017062770783, + 385.283734826507, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-56_499429649/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-56_499429649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60d9e3b53e21796872395b510dd4fbef91b50e1d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-56_499429649/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1726.5931720540657, + -10.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1723.9950958427123, + -12.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1721.397019631359, + -13.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1718.7989434200056, + -15.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1716.2008672086522, + -16.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1713.6027909972988, + -18.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1711.0047147859455, + -19.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1708.406638574592, + -21.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1705.8085623632387, + -22.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1703.2104861518853, + -24.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1700.612409940532, + -25.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1698.0143337291786, + -27.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1695.4162575178252, + -28.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1692.8181813064718, + -30.398825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1690.2201050951185, + -31.898825092325467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1687.622028883765, + -33.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1685.0239526724117, + -34.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1682.4258764610584, + -36.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1679.827800249705, + -37.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1677.2297240383516, + -39.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1674.6316478269982, + -40.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1672.0335716156449, + -42.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1669.4354954042915, + -43.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1666.8374191929381, + -45.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1664.2393429815847, + -46.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1661.6412667702314, + -48.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1659.043190558878, + -49.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1656.4451143475246, + -51.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1653.8470381361712, + -52.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1651.2489619248179, + -54.39882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1648.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1648.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1645.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1642.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1639.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1636.6508857134645, + -55.89882509232547, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-8-19_1122551742/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-8-19_1122551742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dafa3b05e818d35cc4abe5baa97fe68382043b60 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-8-19_1122551742/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 717.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 720.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 723.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 726.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 726.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 726.7472653891361, + 558.3815032122063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 728.2472653891361, + 555.783427000853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 729.7472653891361, + 553.1853507894996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 731.2472653891361, + 550.5872745781462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 732.7472653891361, + 547.9891983667928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 734.2472653891361, + 545.3911221554395, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 735.7472653891361, + 542.7930459440861, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 737.2472653891361, + 540.1949697327327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 738.7472653891361, + 537.5968935213793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 740.2472653891361, + 534.998817310026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 741.7472653891361, + 532.4007410986726, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 743.2472653891361, + 529.8026648873192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 744.7472653891361, + 527.2045886759659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 746.2472653891361, + 524.6065124646125, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 747.7472653891361, + 522.0084362532591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.2472653891361, + 519.4103600419057, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 750.7472653891361, + 516.8122838305524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 752.2472653891361, + 514.214207619199, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 752.2472653891361, + 514.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 754.8453416004895, + 512.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 757.4434178118429, + 511.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 760.0414940231963, + 509.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 762.6395702345496, + 508.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 765.237646445903, + 506.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 767.8357226572564, + 505.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 770.4337988686098, + 503.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 773.0318750799631, + 502.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 775.6299512913165, + 500.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 778.2280275026699, + 499.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 780.8261037140232, + 497.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 783.4241799253766, + 496.214207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 786.02225613673, + 494.714207619199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 788.6203323480834, + 493.214207619199, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-42_1987519915/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-42_1987519915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eda5f266ca22f5f550e351d7bd605f2aab341f09 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-42_1987519915/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 788.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 791.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 794.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 797.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 800.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 803.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 806.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 809.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 812.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 815.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 818.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 821.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 824.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 827.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 830.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 833.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 836.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 839.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 842.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 845.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 848.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 851.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 854.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 857.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 860.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 863.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 866.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 869.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 872.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 875.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 878.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 881.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 884.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 884.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 884.7269013605855, + -5.441154973142567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 886.2269013605855, + -8.039231184495883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 887.7269013605855, + -10.637307395849199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.2269013605855, + -13.235383607202515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 890.7269013605855, + -15.83345981855583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.2269013605855, + -18.431536029909147, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 892.2269013605855, + -18.431536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 894.8249775719389, + -19.931536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 897.4230537832923, + -21.431536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 900.0211299946457, + -22.931536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 902.619206205999, + -24.431536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 905.2172824173524, + -25.931536029909147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 907.8153586287058, + -27.431536029909147, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-13_2037335344/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-13_2037335344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a34c428ec6e8e0c1da83f172db75ebcb2166fbf --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-13_2037335344/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1925.191181934673, + 496.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1925.191181934673, + 493.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1925.191181934673, + 490.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1925.191181934673, + 487.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1925.191181934673, + 484.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1925.191181934673, + 481.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1925.191181934673, + 478.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1925.191181934673, + 475.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1925.191181934673, + 472.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1925.191181934673, + 469.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1925.191181934673, + 466.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1925.191181934673, + 463.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1925.191181934673, + 460.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1925.191181934673, + 457.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1925.191181934673, + 454.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1925.191181934673, + 451.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1925.191181934673, + 448.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1925.191181934673, + 445.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1925.191181934673, + 442.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1925.191181934673, + 439.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1925.191181934673, + 436.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1925.191181934673, + 433.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1925.191181934673, + 430.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1925.191181934673, + 427.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1925.191181934673, + 424.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1925.191181934673, + 421.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1925.191181934673, + 418.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1925.191181934673, + 415.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1925.191181934673, + 412.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1925.191181934673, + 409.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1925.191181934673, + 406.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1925.191181934673, + 403.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1925.191181934673, + 400.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1925.191181934673, + 397.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1925.191181934673, + 394.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1925.191181934673, + 391.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1925.191181934673, + 388.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1925.191181934673, + 385.87582627296035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1925.191181934673, + 382.87582627296035, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-12-0_1173002606/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-12-0_1173002606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e95321ba2c2ddbfdaa7a7f76d3b566d1de86a360 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-12-0_1173002606/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 576.3256861799438, + -336.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 576.3256861799438, + -333.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 576.3256861799438, + -330.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 576.3256861799438, + -327.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 576.3256861799438, + -324.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 576.3256861799438, + -321.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 576.3256861799438, + -318.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 576.3256861799438, + -315.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 576.3256861799438, + -312.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 576.3256861799438, + -309.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 576.3256861799438, + -306.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 576.3256861799438, + -303.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 576.3256861799438, + -300.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 576.3256861799438, + -297.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 576.3256861799438, + -294.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 576.3256861799438, + -291.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 576.3256861799438, + -288.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 576.3256861799438, + -285.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 576.3256861799438, + -282.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 576.3256861799438, + -279.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 576.3256861799438, + -276.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 576.3256861799438, + -273.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 576.3256861799438, + -270.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 576.3256861799438, + -267.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 576.3256861799438, + -264.6484682174225, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 576.3256861799438, + -264.6484682174225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 574.8256861799438, + -262.05039200606916, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 573.3256861799438, + -259.45231579471584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 571.8256861799438, + -256.8542395833625, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 570.3256861799438, + -254.2561633720092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 568.8256861799438, + -251.6580871606559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 567.3256861799438, + -249.06001094930258, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 565.8256861799438, + -246.46193473794926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 564.3256861799438, + -243.86385852659595, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-19_1704841123/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-19_1704841123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5910913bf85abc2aaa9dbcf31eab2b14e660e584 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-19_1704841123/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1960.0554880065772, + 217.53622191304186, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1961.5554880065772, + 220.13429812439517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1963.0554880065772, + 222.7323743357485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1964.5554880065772, + 225.3304505471018, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1966.0554880065772, + 227.92852675845512, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1967.5554880065772, + 230.52660296980844, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1969.0554880065772, + 233.12467918116175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1970.5554880065772, + 235.72275539251507, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1972.0554880065772, + 238.32083160386838, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1972.0554880065772, + 238.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1972.0554880065772, + 241.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1972.0554880065772, + 244.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1972.0554880065772, + 247.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1972.0554880065772, + 250.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1972.0554880065772, + 253.32083160386838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1972.0554880065772, + 256.3208316038684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1972.0554880065772, + 259.3208316038684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1972.0554880065772, + 262.3208316038684, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-2_464837581/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-2_464837581/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8987784459b3d45048593beaefd143b45c4a4cad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-2_464837581/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 720.1051680904358, + 403.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 722.703244301789, + 405.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 725.3013205131424, + 406.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 727.8993967244958, + 408.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 730.4974729358491, + 409.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 733.0955491472025, + 411.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 735.6936253585559, + 412.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 738.2917015699093, + 414.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 740.8897777812626, + 415.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 743.487853992616, + 417.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 746.0859302039694, + 418.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 748.6840064153228, + 420.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 751.2820826266761, + 421.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 753.8801588380295, + 423.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 756.4782350493829, + 424.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 759.0763112607362, + 426.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 761.6743874720896, + 427.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 764.272463683443, + 429.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 766.8705398947964, + 430.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 769.4686161061497, + 432.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 772.0666923175031, + 433.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 774.6647685288565, + 435.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 777.2628447402099, + 436.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 779.8609209515632, + 438.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 782.4589971629166, + 439.97095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 785.05707337427, + 441.47095721460323, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 785.05707337427, + 441.47095721460323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 786.55707337427, + 444.06903342595655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 788.05707337427, + 446.66710963730986, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 789.55707337427, + 449.2651858486632, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-24-16_2145854098/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-24-16_2145854098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1547981c241302f2ec42b562aaa9c725bb01a275 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-24-16_2145854098/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1169.6394306510183, + -384.19835232298726, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1168.1394306510183, + -381.60027611163395, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1166.6394306510183, + -379.00219990028063, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1165.1394306510183, + -376.4041236889273, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1163.6394306510183, + -373.806047477574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1162.1394306510183, + -371.2079712662207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1160.6394306510183, + -368.60989505486737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1159.1394306510183, + -366.01181884351405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1157.6394306510183, + -363.41374263216073, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1156.1394306510183, + -360.8156664208074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1154.6394306510183, + -358.2175902094541, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1153.1394306510183, + -355.6195139981008, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1151.6394306510183, + -353.02143778674747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1150.1394306510183, + -350.42336157539415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1148.6394306510183, + -347.82528536404084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1147.1394306510183, + -345.2272091526875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1145.6394306510183, + -342.6291329413342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1144.1394306510183, + -340.0310567299809, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1142.6394306510183, + -337.4329805186276, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1142.6394306510183, + -337.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1142.6394306510183, + -334.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1142.6394306510183, + -331.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1142.6394306510183, + -328.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1142.6394306510183, + -325.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1142.6394306510183, + -322.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1142.6394306510183, + -319.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1142.6394306510183, + -316.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1142.6394306510183, + -313.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1142.6394306510183, + -310.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1142.6394306510183, + -307.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1142.6394306510183, + -304.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1142.6394306510183, + -301.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1142.6394306510183, + -298.4329805186276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1142.6394306510183, + -295.4329805186276, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-27-53_1204868098/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-27-53_1204868098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dadf2140c950f45b0b8fbb3fe7b93a848f7ccb3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-27-53_1204868098/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1246.3335666537066, + 589.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1246.3335666537066, + 586.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1246.3335666537066, + 583.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1246.3335666537066, + 580.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1246.3335666537066, + 577.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1246.3335666537066, + 574.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1246.3335666537066, + 571.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1246.3335666537066, + 568.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1246.3335666537066, + 565.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1246.3335666537066, + 562.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1246.3335666537066, + 559.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1246.3335666537066, + 556.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1246.3335666537066, + 553.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1246.3335666537066, + 550.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1246.3335666537066, + 547.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1246.3335666537066, + 544.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1246.3335666537066, + 541.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1246.3335666537066, + 538.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1246.3335666537066, + 535.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1246.3335666537066, + 532.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1246.3335666537066, + 529.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1246.3335666537066, + 526.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1246.3335666537066, + 523.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1246.3335666537066, + 520.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1246.3335666537066, + 517.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1246.3335666537066, + 514.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1246.3335666537066, + 511.077496616089, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1246.3335666537066, + 511.077496616089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1244.8335666537066, + 508.47942040473566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1243.3335666537066, + 505.88134419338235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1241.8335666537066, + 503.28326798202903, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-28-10_219994425/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-28-10_219994425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b97612d118365b9dcf6d88d9cd806b4d608f7935 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-28-10_219994425/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1981.3543385898847, + 228.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1981.3543385898847, + 231.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1981.3543385898847, + 234.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1981.3543385898847, + 237.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1981.3543385898847, + 240.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1981.3543385898847, + 243.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1981.3543385898847, + 246.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1981.3543385898847, + 249.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1981.3543385898847, + 252.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1981.3543385898847, + 255.16937959908907, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1981.3543385898847, + 255.16937959908907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1982.8543385898847, + 257.76745581044236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196593 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1984.3543385898847, + 260.3655320217957, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196593 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-17_2068224547/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-17_2068224547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3138e6bf956d723b9cf46ed8acf1e656c6406fe3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-17_2068224547/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1969.8389341198972, + 4.475618034292452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1971.3389341198972, + 7.073694245645768, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1972.8389341198972, + 9.671770456999084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1974.3389341198972, + 12.2698466683524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1975.8389341198972, + 14.867922879705716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1977.3389341198972, + 17.465999091059032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1978.8389341198972, + 20.06407530241235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1980.3389341198972, + 22.662151513765664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1981.8389341198972, + 25.26022772511898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1983.3389341198972, + 27.858303936472296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1984.8389341198972, + 30.456380147825612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1986.3389341198972, + 33.05445635917893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1987.8389341198972, + 35.652532570532244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1989.3389341198972, + 38.25060878188556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1990.8389341198972, + 40.84868499323888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1992.3389341198972, + 43.44676120459219, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1993.8389341198972, + 46.04483741594551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1995.3389341198972, + 48.642913627298825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1996.8389341198972, + 51.24098983865214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1998.3389341198972, + 53.83906605000546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1999.8389341198972, + 56.43714226135877, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1999.8389341198972, + 56.43714226135877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1999.8389341198972, + 59.43714226135877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1999.8389341198972, + 62.43714226135877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1999.8389341198972, + 65.43714226135877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1999.8389341198972, + 68.43714226135877, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-31-18_1268409912/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-31-18_1268409912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22beee5674ee249e09f33a173cf776f374c421a9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-31-18_1268409912/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1912.0108897477824, + -160.79746775548907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1910.5108897477824, + -158.19939154413575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1909.0108897477824, + -155.60131533278243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1907.5108897477824, + -153.00323912142912, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1906.0108897477824, + -150.4051629100758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1904.5108897477824, + -147.8070866987225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1903.0108897477824, + -145.20901048736917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1901.5108897477824, + -142.61093427601585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1900.0108897477824, + -140.01285806466254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1898.5108897477824, + -137.41478185330922, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1897.0108897477824, + -134.8167056419559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1895.5108897477824, + -132.2186294306026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1894.0108897477824, + -129.62055321924927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1892.5108897477824, + -127.02247700789596, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1891.0108897477824, + -124.42440079654264, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1889.5108897477824, + -121.82632458518933, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1888.0108897477824, + -119.22824837383601, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1886.5108897477824, + -116.6301721624827, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1886.5108897477824, + -116.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1886.5108897477824, + -113.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1886.5108897477824, + -110.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1886.5108897477824, + -107.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1886.5108897477824, + -104.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1886.5108897477824, + -101.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1886.5108897477824, + -98.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1886.5108897477824, + -95.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1886.5108897477824, + -92.6301721624827, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1886.5108897477824, + -89.6301721624827, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-4-38_2025251990/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-4-38_2025251990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bd1ecc1f59a33f2d49587f9da8de983d01a9f10 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-4-38_2025251990/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1726.726120467993, + 754.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1724.1280442566397, + 752.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1721.5299680452863, + 751.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1718.931891833933, + 749.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1716.3338156225796, + 748.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1713.7357394112262, + 746.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1711.1376631998728, + 745.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1708.5395869885194, + 743.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1705.941510777166, + 742.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1703.3434345658127, + 740.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1700.7453583544593, + 739.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1698.147282143106, + 737.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1695.5492059317526, + 736.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1692.9511297203992, + 734.8923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1690.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1690.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1687.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1684.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1681.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1678.3530535090458, + 733.3923616751399, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-41-51_384295879/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-41-51_384295879/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b6186f7a4d60d097654b1d5cb9b5d271129ecdd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-41-51_384295879/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 638.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 641.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 644.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 647.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 650.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 653.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 656.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 659.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 662.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 665.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 668.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 671.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 674.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 674.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 674.7692958787193, + 31.96787114997415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 676.2692958787193, + 34.56594736132747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 677.7692958787193, + 37.16402357268078, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 677.7692958787193, + 37.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 680.3673720900726, + 38.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 682.965448301426, + 40.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 685.5635245127794, + 41.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 688.1616007241328, + 43.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 690.7596769354861, + 44.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 693.3577531468395, + 46.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 695.9558293581929, + 47.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 698.5539055695463, + 49.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 701.1519817808996, + 50.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 703.750057992253, + 52.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 706.3481342036064, + 53.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 708.9462104149598, + 55.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 711.5442866263131, + 56.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 714.1423628376665, + 58.16402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 716.7404390490199, + 59.66402357268078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 719.3385152603732, + 61.16402357268078, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-43-48_608034986/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-43-48_608034986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cecdffb27910b3f7705bfe8cdb6b4885639010ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-43-48_608034986/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 645.8264836838844, + -71.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 643.228407472531, + -72.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 640.6303312611776, + -74.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 638.0322550498242, + -75.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 635.4341788384709, + -77.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 632.8361026271175, + -78.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 630.2380264157641, + -80.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 627.6399502044108, + -81.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 625.0418739930574, + -83.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 622.443797781704, + -84.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 619.8457215703506, + -86.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 617.2476453589973, + -87.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 614.6495691476439, + -89.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 612.0514929362905, + -90.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 609.4534167249371, + -92.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 606.8553405135838, + -93.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 604.2572643022304, + -95.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 601.659188090877, + -96.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 599.0611118795237, + -98.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 596.4630356681703, + -99.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 593.8649594568169, + -101.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 591.2668832454635, + -102.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 588.6688070341102, + -104.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 586.0707308227568, + -105.88743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 583.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 583.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 580.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 577.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 574.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 571.4726546114034, + -107.38743459527538, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-45-0_1565306616/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-45-0_1565306616/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4224b96d2c01fd55c46142978f41edc9e2d49045 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-45-0_1565306616/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1021.6628006598488, + 6.875372826177973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1019.0647244484956, + 5.375372826177973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1016.4666482371422, + 3.8753728261779727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1013.8685720257888, + 2.3753728261779727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1011.2704958144354, + 0.875372826177973, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1011.2704958144354, + 0.875372826177973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1009.7704958144354, + -1.722703385175343, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1009.7704958144354, + -1.722703385175343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1007.1724196030821, + -3.222703385175343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1004.5743433917287, + -4.722703385175342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1001.9762671803753, + -6.222703385175342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 999.378190969022, + -7.722703385175342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 996.7801147576686, + -9.222703385175341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 994.1820385463152, + -10.722703385175341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 991.5839623349618, + -12.222703385175341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 988.9858861236085, + -13.722703385175341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 986.3878099122551, + -15.222703385175341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 983.7897337009017, + -16.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 981.1916574895483, + -18.22270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 978.593581278195, + -19.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 975.9955050668416, + -21.22270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 973.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 973.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 970.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 967.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 964.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 961.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 958.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 955.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 952.3974288554882, + -22.72270338517534, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-24_25222833/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-24_25222833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..473b478fb6aabad15fe58d030af34dee0a1666e9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-24_25222833/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.41557410817995, + 354.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 247.01365031953327, + 353.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 249.61172653088659, + 351.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 252.2098027422399, + 350.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 254.80787895359322, + 348.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.40595516494653, + 347.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.00403137629985, + 345.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.60210758765317, + 344.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 265.2001837990065, + 342.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.7982600103598, + 341.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.3963362217131, + 339.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 272.99441243306643, + 338.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.59248864441975, + 336.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 278.19056485577306, + 335.13936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 280.7886410671264, + 333.63936788371495, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 280.7886410671264, + 333.63936788371495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.2886410671264, + 331.04129167236164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 283.7886410671264, + 328.4432154610083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.2886410671264, + 325.845139249655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 286.7886410671264, + 323.2470630383017, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 288.2886410671264, + 320.6489868269484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.7886410671264, + 318.05091061559506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 291.2886410671264, + 315.45283440424174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 292.7886410671264, + 312.8547581928884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.2886410671264, + 310.2566819815351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.7886410671264, + 307.6586057701818, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.2886410671264, + 305.0605295588285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.7886410671264, + 302.46245334747516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 300.2886410671264, + 299.86437713612185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.7886410671264, + 297.26630092476853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.2886410671264, + 294.6682247134152, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-41_1245644428/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-41_1245644428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b42573a2dba8ef9229081c3f10829cdaa92bc1b5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-47-41_1245644428/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1427.882227899587, + 950.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1427.882227899587, + 947.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1427.882227899587, + 944.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1427.882227899587, + 941.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1427.882227899587, + 938.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1427.882227899587, + 935.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1427.882227899587, + 932.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1427.882227899587, + 929.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1427.882227899587, + 926.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1427.882227899587, + 923.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1427.882227899587, + 920.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1427.882227899587, + 917.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1427.882227899587, + 914.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1427.882227899587, + 911.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1427.882227899587, + 908.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1427.882227899587, + 905.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1427.882227899587, + 902.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1427.882227899587, + 899.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1427.882227899587, + 896.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1427.882227899587, + 893.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1427.882227899587, + 890.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1427.882227899587, + 887.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1427.882227899587, + 884.8611998158195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1427.882227899587, + 881.8611998158195, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-40_1693485026/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-40_1693485026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..410fa83148aa87b5aa63930783ca032431328081 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-48-40_1693485026/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 456.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 459.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 465.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 471.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 474.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 477.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 489.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 495.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 498.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 498.27113218199605, + -186.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 500.86920839334937, + -188.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 503.4672846047027, + -189.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 506.065360816056, + -191.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 508.6634370274093, + -192.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 511.26151323876263, + -194.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 513.8595894501159, + -195.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 516.4576656614693, + -197.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 519.0557418728226, + -198.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 521.653818084176, + -200.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 524.2518942955294, + -201.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 526.8499705068828, + -203.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 529.4480467182361, + -204.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 532.0461229295895, + -206.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 534.6441991409429, + -207.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 537.2422753522962, + -209.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 539.8403515636496, + -210.56754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 542.438427775003, + -212.06754671739424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 545.0365039863564, + -213.56754671739424, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-0_360022300/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-0_360022300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f260b584610423da15df7835c022f369aac30ace --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-0_360022300/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1941.7110625867806, + 250.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1941.7110625867806, + 253.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1941.7110625867806, + 256.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1941.7110625867806, + 259.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1941.7110625867806, + 262.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1941.7110625867806, + 265.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1941.7110625867806, + 268.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1941.7110625867806, + 271.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1941.7110625867806, + 274.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1941.7110625867806, + 277.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1941.7110625867806, + 280.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1941.7110625867806, + 283.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1941.7110625867806, + 286.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1941.7110625867806, + 289.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1941.7110625867806, + 292.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1941.7110625867806, + 295.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1941.7110625867806, + 298.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1941.7110625867806, + 301.48336107790766, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1941.7110625867806, + 301.48336107790766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1940.2110625867806, + 304.081437289261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1938.7110625867806, + 306.6795135006143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1937.2110625867806, + 309.2775897119676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1935.7110625867806, + 311.8756659233209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1934.2110625867806, + 314.47374213467424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1932.7110625867806, + 317.07181834602756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1931.2110625867806, + 319.66989455738087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1929.7110625867806, + 322.2679707687342, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-29_100603786/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-29_100603786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d93eb7b86da2b1df79882db151c716d95e1b4cf --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-49-29_100603786/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1415.109043946437, + 213.86269382786026, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1416.609043946437, + 216.46077003921357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1418.109043946437, + 219.0588462505669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1419.609043946437, + 221.6569224619202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1421.109043946437, + 224.25499867327352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1422.609043946437, + 226.85307488462684, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1424.109043946437, + 229.45115109598015, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1425.609043946437, + 232.04922730733347, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1427.109043946437, + 234.64730351868678, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1428.609043946437, + 237.2453797300401, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1430.109043946437, + 239.84345594139342, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1431.609043946437, + 242.44153215274673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1433.109043946437, + 245.03960836410005, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1434.609043946437, + 247.63768457545336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1436.109043946437, + 250.23576078680668, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1437.609043946437, + 252.83383699816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1439.109043946437, + 255.4319132095133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1440.609043946437, + 258.0299894208666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1442.109043946437, + 260.62806563221994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1443.609043946437, + 263.22614184357326, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1445.109043946437, + 265.8242180549266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1446.609043946437, + 268.4222942662799, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-52-49_263043320/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-52-49_263043320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0cc8c32e72f80beaafa196eabea41bd0f457392 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-52-49_263043320/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.6680421107537, + -186.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 486.6680421107537, + -183.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.6680421107537, + -180.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 486.6680421107537, + -177.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 486.6680421107537, + -174.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.6680421107537, + -171.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 486.6680421107537, + -168.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.6680421107537, + -165.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 486.6680421107537, + -162.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 486.6680421107537, + -159.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.6680421107537, + -156.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 486.6680421107537, + -153.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 486.6680421107537, + -150.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 486.6680421107537, + -147.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 486.6680421107537, + -144.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 486.6680421107537, + -141.5652724727497, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.6680421107537, + -141.5652724727497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.1680421107537, + -138.9671962613964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 483.6680421107537, + -136.36912005004308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.1680421107537, + -133.77104383868976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 480.6680421107537, + -131.17296762733645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 479.1680421107537, + -128.57489141598313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 477.6680421107537, + -125.97681520462982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.1680421107537, + -123.3787389932765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 474.6680421107537, + -120.78066278192318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.1680421107537, + -118.18258657056987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.6680421107537, + -115.58451035921655, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-5_1038828826/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-5_1038828826/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..793a1b82108f8f5682a2ea470ed255c5b716ac86 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-53-5_1038828826/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -42.98086752016416, + -156.89108863195293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -41.48086752016416, + -154.2930124205996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.98086752016416, + -151.6949362092463, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -38.48086752016416, + -149.09685999789298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -36.98086752016416, + -146.49878378653966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -35.48086752016416, + -143.90070757518635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.98086752016416, + -141.30263136383303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -32.48086752016416, + -138.7045551524797, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -30.98086752016416, + -136.1064789411264, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -29.48086752016416, + -133.50840272977308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.98086752016416, + -130.91032651841977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -26.48086752016416, + -128.31225030706645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -24.98086752016416, + -125.71417409571313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -23.48086752016416, + -123.11609788435982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.98086752016416, + -120.5180216730065, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -20.48086752016416, + -117.91994546165319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -18.98086752016416, + -115.32186925029987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -17.48086752016416, + -112.72379303894655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -15.98086752016416, + -110.12571682759324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -14.48086752016416, + -107.52764061623992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -12.98086752016416, + -104.9295644048866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -11.48086752016416, + -102.33148819353329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -9.98086752016416, + -99.73341198217997, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.48086752016416, + -97.13533577082666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.980867520164161, + -94.53725955947334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -5.480867520164161, + -91.93918334812003, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-42_2000033062/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-42_2000033062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c838fb141eb0350319d039dd86fc9ce3f26870c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-55-42_2000033062/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1737.2621378579765, + 107.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1734.6640616466232, + 108.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1732.0659854352698, + 110.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1729.4679092239164, + 111.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1726.869833012563, + 113.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1724.2717568012097, + 114.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1721.6736805898563, + 116.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1719.075604378503, + 117.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1716.4775281671496, + 119.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1713.8794519557962, + 120.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1711.2813757444428, + 122.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1708.6832995330894, + 123.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1706.085223321736, + 125.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1703.4871471103827, + 126.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1700.8890708990293, + 128.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1698.290994687676, + 129.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1695.6929184763226, + 131.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1693.0948422649692, + 132.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1690.4967660536158, + 134.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1687.8986898422625, + 135.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1685.300613630909, + 137.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1682.7025374195557, + 138.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1680.1044612082023, + 140.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1677.506384996849, + 141.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1674.9083087854956, + 143.24726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1672.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1672.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1669.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1666.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1663.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1660.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1657.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1654.3102325741422, + 144.74726656250522, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-9-50_309766496/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-9-50_309766496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..685ba0c7d4de2681d49f8546db6b9788b4a2dbc4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-9-50_309766496/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 13.453044426562215, + 212.96613374285417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.953044426562215, + 215.56420995420748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.453044426562215, + 218.1622861655608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 8.953044426562215, + 220.76036237691412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 7.453044426562216, + 223.35843858826743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 5.953044426562217, + 225.95651479962075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4.453044426562218, + 228.55459101097406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.9530444265622187, + 231.15266722232738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1.4530444265622193, + 233.7507434336807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -0.04695557343778001, + 236.348819645034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1.5469555734377793, + 238.94689585638733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -3.0469555734377787, + 241.54497206774064, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -4.546955573437778, + 244.14304827909396, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -6.046955573437777, + 246.74112449044728, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.546955573437776, + 249.3392007018006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -9.046955573437776, + 251.9372769131539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -10.546955573437776, + 254.53535312450722, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -12.046955573437776, + 257.13342933586057, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393191 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -13.546955573437776, + 259.7315055472139, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -15.046955573437776, + 262.3295817585672, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -16.546955573437774, + 264.9276579699205, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393195 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -18.046955573437774, + 267.52573418127383, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -19.546955573437774, + 270.12381039262715, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -21.046955573437774, + 272.72188660398047, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -22.546955573437774, + 275.3199628153338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -24.046955573437774, + 277.9180390266871, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -25.546955573437774, + 280.5161152380404, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -25.546955573437774, + 280.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -25.546955573437774, + 283.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -25.546955573437774, + 286.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -25.546955573437774, + 289.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -25.546955573437774, + 292.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -25.546955573437774, + 295.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -25.546955573437774, + 298.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -25.546955573437774, + 301.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -25.546955573437774, + 304.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -25.546955573437774, + 307.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -25.546955573437774, + 310.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -25.546955573437774, + 313.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -25.546955573437774, + 316.5161152380404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -25.546955573437774, + 319.5161152380404, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}