Datasets:

License:
Ideallll commited on
Commit
8f36585
·
verified ·
1 Parent(s): bea8ee3

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-11-58_660260756/pose.jsonl +326 -0
  2. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-14-25_1063958031/pose.jsonl +287 -0
  3. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-31-37_1804289383/pose.jsonl +313 -0
  4. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-32-57_719885386/pose.jsonl +248 -0
  5. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-34-34_1102520059/pose.jsonl +339 -0
  6. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-39-24_1125898167/pose.jsonl +313 -0
  7. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-42-28_2038664370/pose.jsonl +300 -0
  8. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-45-35_1827336327/pose.jsonl +365 -0
  9. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-45-6_2084420925/pose.jsonl +365 -0
  10. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-49-17_760313750/pose.jsonl +391 -0
  11. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-51-52_2053999932/pose.jsonl +365 -0
  12. Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-7-11_1474612399/pose.jsonl +287 -0
  13. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-14-14_1884661237/pose.jsonl +417 -0
  14. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-15-49_1875335928/pose.jsonl +326 -0
  15. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-26-54_889023311/pose.jsonl +261 -0
  16. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-27-6_1494613810/pose.jsonl +326 -0
  17. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-29-40_1470503465/pose.jsonl +326 -0
  18. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-3-21_2040332871/pose.jsonl +313 -0
  19. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-31-16_1473442062/pose.jsonl +261 -0
  20. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-32-47_620145550/pose.jsonl +339 -0
  21. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-34-37_711845894/pose.jsonl +248 -0
  22. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-35-56_1501252996/pose.jsonl +287 -0
  23. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-36-8_260152959/pose.jsonl +313 -0
  24. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-37-26_1850952926/pose.jsonl +261 -0
  25. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-42-17_1295166342/pose.jsonl +300 -0
  26. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-42-3_298625210/pose.jsonl +313 -0
  27. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-43-11_382697713/pose.jsonl +300 -0
  28. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-47-28_155789224/pose.jsonl +287 -0
  29. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-48-21_619054081/pose.jsonl +339 -0
  30. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-51-59_915256190/pose.jsonl +313 -0
  31. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-52-24_846942590/pose.jsonl +287 -0
  32. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-53-15_1371499336/pose.jsonl +274 -0
  33. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-56-58_452867621/pose.jsonl +313 -0
  34. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-57-49_213801961/pose.jsonl +313 -0
  35. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-7-0_990892921/pose.jsonl +365 -0
  36. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-7-53_111537764/pose.jsonl +287 -0
  37. Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-8-30_438792350/pose.jsonl +261 -0
  38. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-16-34_777720504/pose.jsonl +378 -0
  39. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-19-40_655495367/pose.jsonl +287 -0
  40. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-2-48_1309383303/pose.jsonl +274 -0
  41. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-2-5_1908518808/pose.jsonl +313 -0
  42. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-23-40_847228023/pose.jsonl +326 -0
  43. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-24-43_2002495425/pose.jsonl +339 -0
  44. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-26-4_1186631626/pose.jsonl +248 -0
  45. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-28-23_1265204346/pose.jsonl +261 -0
  46. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-28-35_1369602726/pose.jsonl +339 -0
  47. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-29-43_1297893529/pose.jsonl +287 -0
  48. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-29-55_1010528946/pose.jsonl +378 -0
  49. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-32-39_1243439214/pose.jsonl +300 -0
  50. Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-32-52_70788355/pose.jsonl +313 -0
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-11-58_660260756/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 143.10892873986944,
6
+ 212.86636280828463,
7
+ -19.427767764931954
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 144.60892873986944,
19
+ 210.26828659693132,
20
+ -19.427767764931954
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 146.10892873986944,
32
+ 207.670210385578,
33
+ -19.427767764931954
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 147.60892873986944,
45
+ 205.0721341742247,
46
+ -19.427767764931954
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 149.10892873986944,
58
+ 202.47405796287137,
59
+ -19.427767764931954
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 150.60892873986944,
71
+ 199.87598175151805,
72
+ -19.427767764931954
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 152.10892873986944,
84
+ 197.27790554016474,
85
+ -19.427767764931954
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 153.60892873986944,
97
+ 194.67982932881142,
98
+ -19.427767764931954
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 155.10892873986944,
110
+ 192.0817531174581,
111
+ -19.427767764931954
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 156.60892873986944,
123
+ 189.4836769061048,
124
+ -19.427767764931954
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 158.10892873986944,
136
+ 186.88560069475147,
137
+ -19.427767764931954
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 159.60892873986944,
149
+ 184.28752448339816,
150
+ -19.427767764931954
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 161.10892873986944,
162
+ 181.68944827204484,
163
+ -19.427767764931954
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 162.60892873986944,
175
+ 179.09137206069153,
176
+ -19.427767764931954
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 164.10892873986944,
188
+ 176.4932958493382,
189
+ -19.427767764931954
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 165.60892873986944,
201
+ 173.8952196379849,
202
+ -19.427767764931954
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 167.10892873986944,
214
+ 171.29714342663158,
215
+ -19.427767764931954
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 168.60892873986944,
227
+ 168.69906721527826,
228
+ -19.427767764931954
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 170.10892873986944,
240
+ 166.10099100392495,
241
+ -19.427767764931954
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 171.60892873986944,
253
+ 163.50291479257163,
254
+ -19.427767764931954
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 171.60892873986944,
266
+ 163.50291479257163,
267
+ -19.427767764931954
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 171.60892873986944,
279
+ 160.50291479257163,
280
+ -19.427767764931954
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 171.60892873986944,
292
+ 157.50291479257163,
293
+ -19.427767764931954
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 171.60892873986944,
305
+ 154.50291479257163,
306
+ -19.427767764931954
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 172.00853967666626,
319
+ 151.80226211547853,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-14-25_1063958031/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -68.83751904127553,
6
+ 271.25680252791807,
7
+ -22.316159237563877
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -71.43559525262884,
19
+ 272.75680252791807,
20
+ -22.316159237563877
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -74.03367146398216,
32
+ 274.25680252791807,
33
+ -22.316159237563877
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -76.63174767533548,
45
+ 275.75680252791807,
46
+ -22.316159237563877
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -79.22982388668879,
58
+ 277.25680252791807,
59
+ -22.316159237563877
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -81.82790009804211,
71
+ 278.75680252791807,
72
+ -22.316159237563877
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -84.42597630939542,
84
+ 280.25680252791807,
85
+ -22.316159237563877
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -87.02405252074874,
97
+ 281.75680252791807,
98
+ -22.316159237563877
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -89.62212873210206,
110
+ 283.25680252791807,
111
+ -22.316159237563877
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -92.22020494345537,
123
+ 284.75680252791807,
124
+ -22.316159237563877
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -94.81828115480869,
136
+ 286.25680252791807,
137
+ -22.316159237563877
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -97.416357366162,
149
+ 287.75680252791807,
150
+ -22.316159237563877
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -100.01443357751532,
162
+ 289.25680252791807,
163
+ -22.316159237563877
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -102.61250978886864,
175
+ 290.75680252791807,
176
+ -22.316159237563877
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -105.21058600022195,
188
+ 292.25680252791807,
189
+ -22.316159237563877
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -107.80866221157527,
201
+ 293.75680252791807,
202
+ -22.316159237563877
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -110.40673842292858,
214
+ 295.25680252791807,
215
+ -22.316159237563877
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -110.40673842292858,
227
+ 295.25680252791807,
228
+ -22.316159237563877
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931957
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -111.90673842292858,
240
+ 297.8548787392714,
241
+ -22.316159237563877
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -113.40673842292858,
253
+ 300.4529549506247,
254
+ -22.316159237563877
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -114.90673842292858,
266
+ 303.051031161978,
267
+ -22.316159237563877
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -114.9325143814087,
280
+ 305.5195854187012,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-31-37_1804289383/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 14.313164824621225,
6
+ 140.97574322659406,
7
+ -17.046266440414882
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 17.313164824621225,
19
+ 140.97574322659406,
20
+ -17.046266440414882
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 20.313164824621225,
32
+ 140.97574322659406,
33
+ -17.046266440414882
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 23.313164824621225,
45
+ 140.97574322659406,
46
+ -17.046266440414882
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 26.313164824621225,
58
+ 140.97574322659406,
59
+ -17.046266440414882
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 29.313164824621225,
71
+ 140.97574322659406,
72
+ -17.046266440414882
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 32.313164824621225,
84
+ 140.97574322659406,
85
+ -17.046266440414882
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 35.313164824621225,
97
+ 140.97574322659406,
98
+ -17.046266440414882
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 38.313164824621225,
110
+ 140.97574322659406,
111
+ -17.046266440414882
112
+ ],
113
+ "type": "turn left",
114
+ "value": 30,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 38.313164824621225,
123
+ 140.97574322659406,
124
+ -17.046266440414882
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 40.91124103597454,
136
+ 142.47574322659406,
137
+ -17.046266440414882
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 43.50931724732786,
149
+ 143.97574322659406,
150
+ -17.046266440414882
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 46.10739345868117,
162
+ 145.47574322659406,
163
+ -17.046266440414882
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 48.70546967003449,
175
+ 146.97574322659406,
176
+ -17.046266440414882
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 51.303545881387805,
188
+ 148.47574322659406,
189
+ -17.046266440414882
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 53.90162209274112,
201
+ 149.97574322659406,
202
+ -17.046266440414882
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 56.49969830409444,
214
+ 151.47574322659406,
215
+ -17.046266440414882
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 59.09777451544775,
227
+ 152.97574322659406,
228
+ -17.046266440414882
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 61.69585072680107,
240
+ 154.47574322659406,
241
+ -17.046266440414882
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 64.29392693815439,
253
+ 155.97574322659406,
254
+ -17.046266440414882
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 66.8920031495077,
266
+ 157.47574322659406,
267
+ -17.046266440414882
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 69.49007936086102,
279
+ 158.97574322659406,
280
+ -17.046266440414882
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 72.08815557221433,
292
+ 160.47574322659406,
293
+ -17.046266440414882
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 74.72643995285034,
306
+ 163.1783983230591,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-32-57_719885386/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 154.15029505132406,
6
+ 182.4090467601091,
7
+ -22.692602062587724
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 152.65029505132406,
19
+ 179.8109705487558,
20
+ -22.692602062587724
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 151.15029505132406,
32
+ 177.21289433740247,
33
+ -22.692602062587724
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 149.65029505132406,
45
+ 174.61481812604916,
46
+ -22.692602062587724
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 148.15029505132406,
58
+ 172.01674191469584,
59
+ -22.692602062587724
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 146.65029505132406,
71
+ 169.41866570334253,
72
+ -22.692602062587724
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 145.15029505132406,
84
+ 166.8205894919892,
85
+ -22.692602062587724
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 143.65029505132406,
97
+ 164.2225132806359,
98
+ -22.692602062587724
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 142.15029505132406,
110
+ 161.62443706928258,
111
+ -22.692602062587724
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 140.65029505132406,
123
+ 159.02636085792926,
124
+ -22.692602062587724
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 139.15029505132406,
136
+ 156.42828464657595,
137
+ -22.692602062587724
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 137.65029505132406,
149
+ 153.83020843522263,
150
+ -22.692602062587724
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 136.15029505132406,
162
+ 151.23213222386931,
163
+ -22.692602062587724
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 134.65029505132406,
175
+ 148.634056012516,
176
+ -22.692602062587724
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 133.15029505132406,
188
+ 146.03597980116268,
189
+ -22.692602062587724
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 131.65029505132406,
201
+ 143.43790358980937,
202
+ -22.692602062587724
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 130.15029505132406,
214
+ 140.83982737845605,
215
+ -22.692602062587724
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 128.65029505132406,
227
+ 138.24175116710273,
228
+ -22.692602062587724
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ 126.12591409683228,
241
+ 137.03480195999146,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-34-34_1102520059/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -182.97022476459884,
6
+ 133.66203922690391,
7
+ -22.509916521202136
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -179.97022476459884,
19
+ 133.66203922690391,
20
+ -22.509916521202136
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -176.97022476459884,
32
+ 133.66203922690391,
33
+ -22.509916521202136
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -173.97022476459884,
45
+ 133.66203922690391,
46
+ -22.509916521202136
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -170.97022476459884,
58
+ 133.66203922690391,
59
+ -22.509916521202136
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -167.97022476459884,
71
+ 133.66203922690391,
72
+ -22.509916521202136
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -164.97022476459884,
84
+ 133.66203922690391,
85
+ -22.509916521202136
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -161.97022476459884,
97
+ 133.66203922690391,
98
+ -22.509916521202136
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -158.97022476459884,
110
+ 133.66203922690391,
111
+ -22.509916521202136
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -155.97022476459884,
123
+ 133.66203922690391,
124
+ -22.509916521202136
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -152.97022476459884,
136
+ 133.66203922690391,
137
+ -22.509916521202136
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -149.97022476459884,
149
+ 133.66203922690391,
150
+ -22.509916521202136
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -146.97022476459884,
162
+ 133.66203922690391,
163
+ -22.509916521202136
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -143.97022476459884,
175
+ 133.66203922690391,
176
+ -22.509916521202136
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -140.97022476459884,
188
+ 133.66203922690391,
189
+ -22.509916521202136
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -137.97022476459884,
201
+ 133.66203922690391,
202
+ -22.509916521202136
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -134.97022476459884,
214
+ 133.66203922690391,
215
+ -22.509916521202136
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -131.97022476459884,
227
+ 133.66203922690391,
228
+ -22.509916521202136
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -128.97022476459884,
240
+ 133.66203922690391,
241
+ -22.509916521202136
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -125.97022476459884,
253
+ 133.66203922690391,
254
+ -22.509916521202136
255
+ ],
256
+ "type": "turn left",
257
+ "value": 30,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -125.97022476459884,
266
+ 133.66203922690391,
267
+ -22.509916521202136
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -123.37214855324552,
279
+ 135.16203922690391,
280
+ -22.509916521202136
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -120.77407234189221,
292
+ 136.66203922690391,
293
+ -22.509916521202136
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -118.17599613053889,
305
+ 138.16203922690391,
306
+ -22.509916521202136
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -115.57791991918558,
318
+ 139.66203922690391,
319
+ -22.509916521202136
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -111.88605213165283,
332
+ 139.68146867752077,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-39-24_1125898167/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -102.45592903669886,
6
+ 251.29837703547528,
7
+ -19.47873035571416
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -100.95592903669886,
19
+ 248.70030082412197,
20
+ -19.47873035571416
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -99.45592903669886,
32
+ 246.10222461276865,
33
+ -19.47873035571416
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -97.95592903669886,
45
+ 243.50414840141534,
46
+ -19.47873035571416
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -96.45592903669886,
58
+ 240.90607219006202,
59
+ -19.47873035571416
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -94.95592903669886,
71
+ 238.3079959787087,
72
+ -19.47873035571416
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -93.45592903669886,
84
+ 235.7099197673554,
85
+ -19.47873035571416
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -91.95592903669886,
97
+ 233.11184355600207,
98
+ -19.47873035571416
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -90.45592903669886,
110
+ 230.51376734464876,
111
+ -19.47873035571416
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -88.95592903669886,
123
+ 227.91569113329544,
124
+ -19.47873035571416
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -87.45592903669886,
136
+ 225.31761492194212,
137
+ -19.47873035571416
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -85.95592903669886,
149
+ 222.7195387105888,
150
+ -19.47873035571416
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -84.45592903669886,
162
+ 220.1214624992355,
163
+ -19.47873035571416
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -82.95592903669886,
175
+ 217.52338628788218,
176
+ -19.47873035571416
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -81.45592903669886,
188
+ 214.92531007652886,
189
+ -19.47873035571416
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -79.95592903669886,
201
+ 212.32723386517554,
202
+ -19.47873035571416
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -78.45592903669886,
214
+ 209.72915765382223,
215
+ -19.47873035571416
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -76.95592903669886,
227
+ 207.1310814424689,
228
+ -19.47873035571416
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -75.45592903669886,
240
+ 204.5330052311156,
241
+ -19.47873035571416
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -75.45592903669886,
253
+ 204.5330052311156,
254
+ -19.47873035571416
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -75.45592903669886,
266
+ 201.5330052311156,
267
+ -19.47873035571416
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -75.45592903669886,
279
+ 198.5330052311156,
280
+ -19.47873035571416
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -75.45592903669886,
292
+ 195.5330052311156,
293
+ -19.47873035571416
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -75.5195812702179,
306
+ 191.94742860794068,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-42-28_2038664370/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -301.8585313411058,
6
+ 371.9808539629819,
7
+ -18.46260154696428
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -301.8585313411058,
19
+ 368.9808539629819,
20
+ -18.46260154696428
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -301.8585313411058,
32
+ 365.9808539629819,
33
+ -18.46260154696428
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -301.8585313411058,
45
+ 362.9808539629819,
46
+ -18.46260154696428
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -301.8585313411058,
58
+ 359.9808539629819,
59
+ -18.46260154696428
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -301.8585313411058,
71
+ 356.9808539629819,
72
+ -18.46260154696428
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -301.8585313411058,
84
+ 353.9808539629819,
85
+ -18.46260154696428
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -301.8585313411058,
97
+ 350.9808539629819,
98
+ -18.46260154696428
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -301.8585313411058,
110
+ 347.9808539629819,
111
+ -18.46260154696428
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -301.8585313411058,
123
+ 344.9808539629819,
124
+ -18.46260154696428
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -301.8585313411058,
136
+ 341.9808539629819,
137
+ -18.46260154696428
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -301.8585313411058,
149
+ 338.9808539629819,
150
+ -18.46260154696428
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -301.8585313411058,
162
+ 335.9808539629819,
163
+ -18.46260154696428
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -301.8585313411058,
175
+ 332.9808539629819,
176
+ -18.46260154696428
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -301.8585313411058,
188
+ 329.9808539629819,
189
+ -18.46260154696428
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -301.8585313411058,
201
+ 326.9808539629819,
202
+ -18.46260154696428
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -301.8585313411058,
214
+ 323.9808539629819,
215
+ -18.46260154696428
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -301.8585313411058,
227
+ 320.9808539629819,
228
+ -18.46260154696428
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -301.8585313411058,
240
+ 317.9808539629819,
241
+ -18.46260154696428
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -301.8585313411058,
253
+ 314.9808539629819,
254
+ -18.46260154696428
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -301.8585313411058,
266
+ 311.9808539629819,
267
+ -18.46260154696428
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -301.8585313411058,
279
+ 308.9808539629819,
280
+ -18.46260154696428
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -303.76718215942384,
293
+ 307.45265769958496,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-45-35_1827336327/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 62.04382658276633,
6
+ -45.875047072177836,
7
+ -18.954552512255574
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 65.04382658276633,
19
+ -45.875047072177836,
20
+ -18.954552512255574
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 68.04382658276633,
32
+ -45.875047072177836,
33
+ -18.954552512255574
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 71.04382658276633,
45
+ -45.875047072177836,
46
+ -18.954552512255574
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 74.04382658276633,
58
+ -45.875047072177836,
59
+ -18.954552512255574
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 77.04382658276633,
71
+ -45.875047072177836,
72
+ -18.954552512255574
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 80.04382658276633,
84
+ -45.875047072177836,
85
+ -18.954552512255574
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 83.04382658276633,
97
+ -45.875047072177836,
98
+ -18.954552512255574
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 86.04382658276633,
110
+ -45.875047072177836,
111
+ -18.954552512255574
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 89.04382658276633,
123
+ -45.875047072177836,
124
+ -18.954552512255574
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 92.04382658276633,
136
+ -45.875047072177836,
137
+ -18.954552512255574
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 95.04382658276633,
149
+ -45.875047072177836,
150
+ -18.954552512255574
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 98.04382658276633,
162
+ -45.875047072177836,
163
+ -18.954552512255574
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 101.04382658276633,
175
+ -45.875047072177836,
176
+ -18.954552512255574
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 104.04382658276633,
188
+ -45.875047072177836,
189
+ -18.954552512255574
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 107.04382658276633,
201
+ -45.875047072177836,
202
+ -18.954552512255574
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 110.04382658276633,
214
+ -45.875047072177836,
215
+ -18.954552512255574
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 110.04382658276633,
227
+ -45.875047072177836,
228
+ -18.954552512255574
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 112.64190279411964,
240
+ -47.375047072177836,
241
+ -18.954552512255574
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 115.23997900547296,
253
+ -48.875047072177836,
254
+ -18.954552512255574
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 117.83805521682628,
266
+ -50.375047072177836,
267
+ -18.954552512255574
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 120.43613142817959,
279
+ -51.875047072177836,
280
+ -18.954552512255574
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 123.03420763953291,
292
+ -53.375047072177836,
293
+ -18.954552512255574
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 125.63228385088622,
305
+ -54.875047072177836,
306
+ -18.954552512255574
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 128.23036006223953,
318
+ -56.375047072177836,
319
+ -18.954552512255574
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755983013
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 130.82843627359284,
331
+ -57.875047072177836,
332
+ -18.954552512255574
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 133.42651248494616,
344
+ -59.375047072177836,
345
+ -18.954552512255574
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 135.41849660873413,
358
+ -61.472222375869755,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-45-6_2084420925/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 255.94879715577017,
6
+ 29.55846961545167,
7
+ -23.653852321811982
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 255.94879715577017,
19
+ 32.55846961545167,
20
+ -23.653852321811982
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 255.94879715577017,
32
+ 35.55846961545167,
33
+ -23.653852321811982
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 255.94879715577017,
45
+ 38.55846961545167,
46
+ -23.653852321811982
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 255.94879715577017,
58
+ 41.55846961545167,
59
+ -23.653852321811982
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 255.94879715577017,
71
+ 44.55846961545167,
72
+ -23.653852321811982
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 255.94879715577017,
84
+ 47.55846961545167,
85
+ -23.653852321811982
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 255.94879715577017,
97
+ 50.55846961545167,
98
+ -23.653852321811982
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 255.94879715577017,
110
+ 53.55846961545167,
111
+ -23.653852321811982
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 255.94879715577017,
123
+ 56.55846961545167,
124
+ -23.653852321811982
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 255.94879715577017,
136
+ 59.55846961545167,
137
+ -23.653852321811982
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 255.94879715577017,
149
+ 62.55846961545167,
150
+ -23.653852321811982
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 255.94879715577017,
162
+ 65.55846961545167,
163
+ -23.653852321811982
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 255.94879715577017,
175
+ 68.55846961545167,
176
+ -23.653852321811982
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 255.94879715577017,
188
+ 68.55846961545167,
189
+ -23.653852321811982
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 254.44879715577017,
201
+ 71.15654582680499,
202
+ -23.653852321811982
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 252.94879715577017,
214
+ 73.7546220381583,
215
+ -23.653852321811982
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 251.44879715577017,
227
+ 76.35269824951162,
228
+ -23.653852321811982
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 249.94879715577017,
240
+ 78.95077446086493,
241
+ -23.653852321811982
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 248.44879715577017,
253
+ 81.54885067221825,
254
+ -23.653852321811982
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 246.94879715577017,
266
+ 84.14692688357157,
267
+ -23.653852321811982
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 245.44879715577017,
279
+ 86.74500309492488,
280
+ -23.653852321811982
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 243.94879715577017,
292
+ 89.3430793062782,
293
+ -23.653852321811982
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 242.44879715577017,
305
+ 91.94115551763151,
306
+ -23.653852321811982
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 240.94879715577017,
318
+ 94.53923172898483,
319
+ -23.653852321811982
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 239.44879715577017,
331
+ 97.13730794033815,
332
+ -23.653852321811982
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 237.94879715577017,
344
+ 99.73538415169146,
345
+ -23.653852321811982
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 2.0943951023931953
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 237.49442634582522,
358
+ 103.37022337913514,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-49-17_760313750/pose.jsonl ADDED
@@ -0,0 +1,391 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 210.41851731643322,
6
+ -36.17625082539871,
7
+ -20.819017271138527
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 207.8204411050799,
19
+ -37.67625082539871,
20
+ -20.819017271138527
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 205.2223648937266,
32
+ -39.17625082539871,
33
+ -20.819017271138527
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 202.62428868237328,
45
+ -40.67625082539871,
46
+ -20.819017271138527
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 200.02621247101996,
58
+ -42.17625082539871,
59
+ -20.819017271138527
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 197.42813625966664,
71
+ -43.67625082539871,
72
+ -20.819017271138527
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 194.83006004831333,
84
+ -45.17625082539871,
85
+ -20.819017271138527
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 192.23198383696,
97
+ -46.67625082539871,
98
+ -20.819017271138527
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 189.6339076256067,
110
+ -48.17625082539871,
111
+ -20.819017271138527
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 187.03583141425338,
123
+ -49.67625082539871,
124
+ -20.819017271138527
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 184.43775520290006,
136
+ -51.17625082539871,
137
+ -20.819017271138527
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 181.83967899154675,
149
+ -52.67625082539871,
150
+ -20.819017271138527
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 179.24160278019343,
162
+ -54.17625082539871,
163
+ -20.819017271138527
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 176.64352656884012,
175
+ -55.67625082539871,
176
+ -20.819017271138527
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 174.0454503574868,
188
+ -57.17625082539871,
189
+ -20.819017271138527
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 171.44737414613348,
201
+ -58.67625082539871,
202
+ -20.819017271138527
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 171.44737414613348,
214
+ -58.67625082539871,
215
+ -20.819017271138527
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 168.44737414613348,
227
+ -58.67625082539871,
228
+ -20.819017271138527
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 165.44737414613348,
240
+ -58.67625082539871,
241
+ -20.819017271138527
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 162.44737414613348,
253
+ -58.67625082539871,
254
+ -20.819017271138527
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 159.44737414613348,
266
+ -58.67625082539871,
267
+ -20.819017271138527
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 156.44737414613348,
279
+ -58.67625082539871,
280
+ -20.819017271138527
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 153.44737414613348,
292
+ -58.67625082539871,
293
+ -20.819017271138527
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 150.44737414613348,
305
+ -58.67625082539871,
306
+ -20.819017271138527
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 3.141592653589793
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 147.44737414613348,
318
+ -58.67625082539871,
319
+ -20.819017271138527
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 3.141592653589793
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 144.44737414613348,
331
+ -58.67625082539871,
332
+ -20.819017271138527
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 3.141592653589793
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 141.44737414613348,
344
+ -58.67625082539871,
345
+ -20.819017271138527
346
+ ],
347
+ "type": "turn left",
348
+ "value": 30,
349
+ "yaw": 3.141592653589793
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 141.44737414613348,
357
+ -58.67625082539871,
358
+ -20.819017271138527
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": 3.665191429188092
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 138.84929793478017,
370
+ -60.17625082539871,
371
+ -20.819017271138527
372
+ ],
373
+ "type": "stop",
374
+ "value": 0,
375
+ "yaw": 3.665191429188092
376
+ }
377
+ }
378
+ {
379
+ "aim_landmark": {
380
+ "color": "test",
381
+ "feature": "test",
382
+ "position": [
383
+ 135.41849660873413,
384
+ -61.472222375869755,
385
+ 0.0
386
+ ],
387
+ "shape": "test",
388
+ "size": "test",
389
+ "type": "building"
390
+ }
391
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-51-52_2053999932/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -271.5214707525877,
6
+ 344.61001943495256,
7
+ -19.906047396005164
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -268.5214707525877,
19
+ 344.61001943495256,
20
+ -19.906047396005164
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -265.5214707525877,
32
+ 344.61001943495256,
33
+ -19.906047396005164
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -262.5214707525877,
45
+ 344.61001943495256,
46
+ -19.906047396005164
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -259.5214707525877,
58
+ 344.61001943495256,
59
+ -19.906047396005164
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -256.5214707525877,
71
+ 344.61001943495256,
72
+ -19.906047396005164
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -253.52147075258767,
84
+ 344.61001943495256,
85
+ -19.906047396005164
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -250.52147075258767,
97
+ 344.61001943495256,
98
+ -19.906047396005164
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -247.52147075258767,
110
+ 344.61001943495256,
111
+ -19.906047396005164
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -244.52147075258767,
123
+ 344.61001943495256,
124
+ -19.906047396005164
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -241.52147075258767,
136
+ 344.61001943495256,
137
+ -19.906047396005164
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -238.52147075258767,
149
+ 344.61001943495256,
150
+ -19.906047396005164
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -235.52147075258767,
162
+ 344.61001943495256,
163
+ -19.906047396005164
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -232.52147075258767,
175
+ 344.61001943495256,
176
+ -19.906047396005164
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -229.52147075258767,
188
+ 344.61001943495256,
189
+ -19.906047396005164
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -226.52147075258767,
201
+ 344.61001943495256,
202
+ -19.906047396005164
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -223.52147075258767,
214
+ 344.61001943495256,
215
+ -19.906047396005164
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -220.52147075258767,
227
+ 344.61001943495256,
228
+ -19.906047396005164
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.0
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -217.52147075258767,
240
+ 344.61001943495256,
241
+ -19.906047396005164
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.0
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -214.52147075258767,
253
+ 344.61001943495256,
254
+ -19.906047396005164
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.0
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -211.52147075258767,
266
+ 344.61001943495256,
267
+ -19.906047396005164
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.0
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -208.52147075258767,
279
+ 344.61001943495256,
280
+ -19.906047396005164
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.0
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -205.52147075258767,
292
+ 344.61001943495256,
293
+ -19.906047396005164
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.0
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -202.52147075258767,
305
+ 344.61001943495256,
306
+ -19.906047396005164
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.0
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -199.52147075258767,
318
+ 344.61001943495256,
319
+ -19.906047396005164
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": 0.0
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -196.52147075258767,
331
+ 344.61001943495256,
332
+ -19.906047396005164
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.0
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -193.52147075258767,
344
+ 344.61001943495256,
345
+ -19.906047396005164
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": 0.0
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ -191.5625873565674,
358
+ 346.9084686279297,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_17-7-11_1474612399/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -104.13918595465346,
6
+ 137.75258569652243,
7
+ -21.823012739893418
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -102.63918595465346,
19
+ 140.35066190787575,
20
+ -21.823012739893418
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -101.13918595465346,
32
+ 142.94873811922906,
33
+ -21.823012739893418
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -99.63918595465346,
45
+ 145.54681433058238,
46
+ -21.823012739893418
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -98.13918595465346,
58
+ 148.1448905419357,
59
+ -21.823012739893418
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -96.63918595465346,
71
+ 150.742966753289,
72
+ -21.823012739893418
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -95.13918595465346,
84
+ 153.34104296464233,
85
+ -21.823012739893418
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -93.63918595465346,
97
+ 155.93911917599564,
98
+ -21.823012739893418
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -92.13918595465346,
110
+ 158.53719538734896,
111
+ -21.823012739893418
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -90.63918595465346,
123
+ 161.13527159870227,
124
+ -21.823012739893418
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -89.13918595465346,
136
+ 163.7333478100556,
137
+ -21.823012739893418
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -87.63918595465346,
149
+ 166.3314240214089,
150
+ -21.823012739893418
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -86.13918595465346,
162
+ 168.92950023276222,
163
+ -21.823012739893418
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -84.63918595465346,
175
+ 171.52757644411554,
176
+ -21.823012739893418
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -83.13918595465346,
188
+ 174.12565265546885,
189
+ -21.823012739893418
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -81.63918595465346,
201
+ 176.72372886682217,
202
+ -21.823012739893418
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -80.13918595465346,
214
+ 179.3218050781755,
215
+ -21.823012739893418
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -78.63918595465346,
227
+ 181.9198812895288,
228
+ -21.823012739893418
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -77.13918595465346,
240
+ 184.51795750088212,
241
+ -21.823012739893418
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -75.63918595465346,
253
+ 187.11603371223543,
254
+ -21.823012739893418
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -74.13918595465346,
266
+ 189.71410992358875,
267
+ -21.823012739893418
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -75.5195812702179,
280
+ 191.94742860794068,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-14-14_1884661237/pose.jsonl ADDED
@@ -0,0 +1,417 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 142.74194654841077,
6
+ 71.04602291750746,
7
+ -19.70730659722911
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 145.74194654841077,
19
+ 71.04602291750746,
20
+ -19.70730659722911
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 148.74194654841077,
32
+ 71.04602291750746,
33
+ -19.70730659722911
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 151.74194654841077,
45
+ 71.04602291750746,
46
+ -19.70730659722911
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 154.74194654841077,
58
+ 71.04602291750746,
59
+ -19.70730659722911
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 157.74194654841077,
71
+ 71.04602291750746,
72
+ -19.70730659722911
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 160.74194654841077,
84
+ 71.04602291750746,
85
+ -19.70730659722911
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 163.74194654841077,
97
+ 71.04602291750746,
98
+ -19.70730659722911
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 166.74194654841077,
110
+ 71.04602291750746,
111
+ -19.70730659722911
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 169.74194654841077,
123
+ 71.04602291750746,
124
+ -19.70730659722911
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 172.74194654841077,
136
+ 71.04602291750746,
137
+ -19.70730659722911
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 175.74194654841077,
149
+ 71.04602291750746,
150
+ -19.70730659722911
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 178.74194654841077,
162
+ 71.04602291750746,
163
+ -19.70730659722911
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 181.74194654841077,
175
+ 71.04602291750746,
176
+ -19.70730659722911
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 184.74194654841077,
188
+ 71.04602291750746,
189
+ -19.70730659722911
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 187.74194654841077,
201
+ 71.04602291750746,
202
+ -19.70730659722911
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 190.74194654841077,
214
+ 71.04602291750746,
215
+ -19.70730659722911
216
+ ],
217
+ "type": "turn right",
218
+ "value": 30,
219
+ "yaw": 0.0
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 190.74194654841077,
227
+ 71.04602291750746,
228
+ -19.70730659722911
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 190.74194654841077,
240
+ 71.04602291750746,
241
+ -19.70730659722911
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965976
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 192.24194654841077,
253
+ 68.44794670615414,
254
+ -19.70730659722911
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 193.74194654841077,
266
+ 65.84987049480083,
267
+ -19.70730659722911
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 195.24194654841077,
279
+ 63.25179428344751,
280
+ -19.70730659722911
281
+ ],
282
+ "type": "turn left",
283
+ "value": 30,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 195.24194654841077,
292
+ 63.25179428344751,
293
+ -19.70730659722911
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.523598775598299
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 197.84002275976408,
305
+ 61.75179428344751,
306
+ -19.70730659722911
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 200.4380989711174,
318
+ 60.25179428344751,
319
+ -19.70730659722911
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 203.0361751824707,
331
+ 58.75179428344751,
332
+ -19.70730659722911
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -0.5235987755982988
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 205.63425139382403,
344
+ 57.25179428344751,
345
+ -19.70730659722911
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -0.5235987755982988
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 208.23232760517735,
357
+ 55.75179428344751,
358
+ -19.70730659722911
359
+ ],
360
+ "type": "go straight",
361
+ "value": 3,
362
+ "yaw": -0.5235987755982988
363
+ }
364
+ }
365
+ {
366
+ "action": {
367
+ "imageid": 28,
368
+ "pos": [
369
+ 210.83040381653066,
370
+ 54.25179428344751,
371
+ -19.70730659722911
372
+ ],
373
+ "type": "go straight",
374
+ "value": 3,
375
+ "yaw": -0.5235987755982988
376
+ }
377
+ }
378
+ {
379
+ "action": {
380
+ "imageid": 29,
381
+ "pos": [
382
+ 213.42848002788398,
383
+ 52.75179428344751,
384
+ -19.70730659722911
385
+ ],
386
+ "type": "go straight",
387
+ "value": 3,
388
+ "yaw": -0.5235987755982988
389
+ }
390
+ }
391
+ {
392
+ "action": {
393
+ "imageid": 30,
394
+ "pos": [
395
+ 216.0265562392373,
396
+ 51.25179428344751,
397
+ -19.70730659722911
398
+ ],
399
+ "type": "stop",
400
+ "value": 0,
401
+ "yaw": -0.5235987755982988
402
+ }
403
+ }
404
+ {
405
+ "aim_landmark": {
406
+ "color": "test",
407
+ "feature": "test",
408
+ "position": [
409
+ 218.32671661376955,
410
+ 52.17227687835694,
411
+ 0.0
412
+ ],
413
+ "shape": "test",
414
+ "size": "test",
415
+ "type": "building"
416
+ }
417
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-15-49_1875335928/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -126.96032613167839,
6
+ 421.17226310656923,
7
+ -17.59863089851537
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -123.96032613167839,
19
+ 421.17226310656923,
20
+ -17.59863089851537
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -120.96032613167839,
32
+ 421.17226310656923,
33
+ -17.59863089851537
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -117.96032613167839,
45
+ 421.17226310656923,
46
+ -17.59863089851537
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -114.96032613167839,
58
+ 421.17226310656923,
59
+ -17.59863089851537
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -111.96032613167839,
71
+ 421.17226310656923,
72
+ -17.59863089851537
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -108.96032613167839,
84
+ 421.17226310656923,
85
+ -17.59863089851537
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -105.96032613167839,
97
+ 421.17226310656923,
98
+ -17.59863089851537
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -102.96032613167839,
110
+ 421.17226310656923,
111
+ -17.59863089851537
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -99.96032613167839,
123
+ 421.17226310656923,
124
+ -17.59863089851537
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -96.96032613167839,
136
+ 421.17226310656923,
137
+ -17.59863089851537
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -93.96032613167839,
149
+ 421.17226310656923,
150
+ -17.59863089851537
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -93.96032613167839,
162
+ 421.17226310656923,
163
+ -17.59863089851537
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -91.36224992032507,
175
+ 422.67226310656923,
176
+ -17.59863089851537
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -88.76417370897175,
188
+ 424.17226310656923,
189
+ -17.59863089851537
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -86.16609749761844,
201
+ 425.67226310656923,
202
+ -17.59863089851537
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -83.56802128626512,
214
+ 427.17226310656923,
215
+ -17.59863089851537
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -80.9699450749118,
227
+ 428.67226310656923,
228
+ -17.59863089851537
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -78.37186886355849,
240
+ 430.17226310656923,
241
+ -17.59863089851537
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -75.77379265220517,
253
+ 431.67226310656923,
254
+ -17.59863089851537
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -73.17571644085186,
266
+ 433.17226310656923,
267
+ -17.59863089851537
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -70.57764022949854,
279
+ 434.67226310656923,
280
+ -17.59863089851537
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -67.97956401814523,
292
+ 436.17226310656923,
293
+ -17.59863089851537
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -65.38148780679191,
305
+ 437.67226310656923,
306
+ -17.59863089851537
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -63.5878408908844,
319
+ 436.78047485351567,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-26-54_889023311/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 75.1343964642732,
6
+ 481.1896788436409,
7
+ -20.39506706188459
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 77.73247267562651,
19
+ 479.6896788436409,
20
+ -20.39506706188459
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 80.33054888697983,
32
+ 478.1896788436409,
33
+ -20.39506706188459
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 82.92862509833314,
45
+ 476.6896788436409,
46
+ -20.39506706188459
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 85.52670130968646,
58
+ 475.1896788436409,
59
+ -20.39506706188459
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 88.12477752103977,
71
+ 473.6896788436409,
72
+ -20.39506706188459
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 90.72285373239309,
84
+ 472.1896788436409,
85
+ -20.39506706188459
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 93.3209299437464,
97
+ 470.6896788436409,
98
+ -20.39506706188459
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 95.91900615509972,
110
+ 469.1896788436409,
111
+ -20.39506706188459
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": -0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 95.91900615509972,
123
+ 469.1896788436409,
124
+ -20.39506706188459
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965976
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 97.41900615509972,
136
+ 466.59160263228756,
137
+ -20.39506706188459
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 98.91900615509972,
149
+ 463.99352642093424,
150
+ -20.39506706188459
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 100.41900615509972,
162
+ 461.39545020958093,
163
+ -20.39506706188459
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 101.91900615509972,
175
+ 458.7973739982276,
176
+ -20.39506706188459
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 103.41900615509972,
188
+ 456.1992977868743,
189
+ -20.39506706188459
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 104.91900615509972,
201
+ 453.601221575521,
202
+ -20.39506706188459
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 106.41900615509972,
214
+ 451.00314536416766,
215
+ -20.39506706188459
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 107.91900615509972,
227
+ 448.40506915281435,
228
+ -20.39506706188459
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 109.41900615509972,
240
+ 445.80699294146103,
241
+ -20.39506706188459
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 111.95103158950806,
254
+ 444.64442253112793,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-27-6_1494613810/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -56.79650255090952,
6
+ 504.0087716499755,
7
+ -22.859467861405314
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -56.79650255090952,
19
+ 501.0087716499755,
20
+ -22.859467861405314
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -56.79650255090952,
32
+ 498.0087716499755,
33
+ -22.859467861405314
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -56.79650255090952,
45
+ 495.0087716499755,
46
+ -22.859467861405314
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -56.79650255090952,
58
+ 492.0087716499755,
59
+ -22.859467861405314
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -56.79650255090952,
71
+ 489.0087716499755,
72
+ -22.859467861405314
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -56.79650255090952,
84
+ 486.0087716499755,
85
+ -22.859467861405314
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -56.79650255090952,
97
+ 483.0087716499755,
98
+ -22.859467861405314
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -56.79650255090952,
110
+ 480.0087716499755,
111
+ -22.859467861405314
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -56.79650255090952,
123
+ 477.0087716499755,
124
+ -22.859467861405314
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -56.79650255090952,
136
+ 474.0087716499755,
137
+ -22.859467861405314
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -56.79650255090952,
149
+ 471.0087716499755,
150
+ -22.859467861405314
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -56.79650255090952,
162
+ 468.0087716499755,
163
+ -22.859467861405314
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -56.79650255090952,
175
+ 465.0087716499755,
176
+ -22.859467861405314
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -56.79650255090952,
188
+ 462.0087716499755,
189
+ -22.859467861405314
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -56.79650255090952,
201
+ 459.0087716499755,
202
+ -22.859467861405314
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -56.79650255090952,
214
+ 456.0087716499755,
215
+ -22.859467861405314
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -56.79650255090952,
227
+ 453.0087716499755,
228
+ -22.859467861405314
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -56.79650255090952,
240
+ 450.0087716499755,
241
+ -22.859467861405314
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -56.79650255090952,
253
+ 447.0087716499755,
254
+ -22.859467861405314
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -56.79650255090952,
266
+ 447.0087716499755,
267
+ -22.859467861405314
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -58.29650255090952,
279
+ 444.41069543862216,
280
+ -22.859467861405314
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -59.79650255090952,
292
+ 441.81261922726884,
293
+ -22.859467861405314
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -61.29650255090952,
305
+ 439.2145430159155,
306
+ -22.859467861405314
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -63.5878408908844,
319
+ 436.78047485351567,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-29-40_1470503465/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 163.24050058034427,
6
+ 11.195354980900284,
7
+ -23.603485944575898
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 164.74050058034427,
19
+ 13.7934311922536,
20
+ -23.603485944575898
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 166.24050058034427,
32
+ 16.391507403606916,
33
+ -23.603485944575898
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 167.74050058034427,
45
+ 18.98958361496023,
46
+ -23.603485944575898
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 169.24050058034427,
58
+ 21.587659826313548,
59
+ -23.603485944575898
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 170.74050058034427,
71
+ 24.185736037666864,
72
+ -23.603485944575898
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 172.24050058034427,
84
+ 26.78381224902018,
85
+ -23.603485944575898
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 173.74050058034427,
97
+ 29.381888460373496,
98
+ -23.603485944575898
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 175.24050058034427,
110
+ 31.979964671726812,
111
+ -23.603485944575898
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 176.74050058034427,
123
+ 34.57804088308013,
124
+ -23.603485944575898
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 178.24050058034427,
136
+ 37.176117094433444,
137
+ -23.603485944575898
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 179.74050058034427,
149
+ 39.77419330578676,
150
+ -23.603485944575898
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 181.24050058034427,
162
+ 42.372269517140076,
163
+ -23.603485944575898
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 182.74050058034427,
175
+ 44.97034572849339,
176
+ -23.603485944575898
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 184.24050058034427,
188
+ 47.56842193984671,
189
+ -23.603485944575898
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 184.24050058034427,
201
+ 47.56842193984671,
202
+ -23.603485944575898
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 184.24050058034427,
214
+ 50.56842193984671,
215
+ -23.603485944575898
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 184.24050058034427,
227
+ 53.56842193984671,
228
+ -23.603485944575898
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 184.24050058034427,
240
+ 56.56842193984671,
241
+ -23.603485944575898
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 184.24050058034427,
253
+ 59.56842193984671,
254
+ -23.603485944575898
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 184.24050058034427,
266
+ 62.56842193984671,
267
+ -23.603485944575898
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 184.24050058034427,
279
+ 65.5684219398467,
280
+ -23.603485944575898
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 184.24050058034427,
292
+ 68.5684219398467,
293
+ -23.603485944575898
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 184.24050058034427,
305
+ 71.5684219398467,
306
+ -23.603485944575898
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": 1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ 184.7513246536255,
319
+ 73.33496251106263,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-3-21_2040332871/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 247.12196854433745,
6
+ 10.413720788523966,
7
+ -20.666893369469616
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 244.12196854433745,
19
+ 10.413720788523966,
20
+ -20.666893369469616
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 241.12196854433745,
32
+ 10.413720788523966,
33
+ -20.666893369469616
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 238.12196854433745,
45
+ 10.413720788523966,
46
+ -20.666893369469616
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 235.12196854433745,
58
+ 10.413720788523966,
59
+ -20.666893369469616
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 232.12196854433745,
71
+ 10.413720788523966,
72
+ -20.666893369469616
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 229.12196854433745,
84
+ 10.413720788523966,
85
+ -20.666893369469616
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 226.12196854433745,
97
+ 10.413720788523966,
98
+ -20.666893369469616
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 223.12196854433745,
110
+ 10.413720788523966,
111
+ -20.666893369469616
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 220.12196854433745,
123
+ 10.413720788523966,
124
+ -20.666893369469616
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 217.12196854433745,
136
+ 10.413720788523966,
137
+ -20.666893369469616
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 214.12196854433745,
149
+ 10.413720788523966,
150
+ -20.666893369469616
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 211.12196854433745,
162
+ 10.413720788523966,
163
+ -20.666893369469616
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 208.12196854433745,
175
+ 10.413720788523966,
176
+ -20.666893369469616
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 205.12196854433745,
188
+ 10.413720788523966,
189
+ -20.666893369469616
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 205.12196854433745,
201
+ 10.413720788523966,
202
+ -20.666893369469616
203
+ ],
204
+ "type": "turn left",
205
+ "value": 30,
206
+ "yaw": 3.665191429188092
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 205.12196854433745,
214
+ 10.413720788523966,
215
+ -20.666893369469616
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 4.1887902047863905
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 203.62196854433745,
227
+ 7.81564457717065,
228
+ -20.666893369469616
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 202.12196854433745,
240
+ 5.217568365817334,
241
+ -20.666893369469616
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 202.12196854433745,
253
+ 5.217568365817334,
254
+ -20.666893369469616
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.617993877991494
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 199.52389233298413,
266
+ 3.7175683658173337,
267
+ -20.666893369469616
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 196.92581612163082,
279
+ 2.2175683658173337,
280
+ -20.666893369469616
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 194.3277399102775,
292
+ 0.717568365817334,
293
+ -20.666893369469616
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 193.10110254287721,
306
+ -0.9578603744506836,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-31-16_1473442062/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 150.29125242873366,
6
+ 130.12089256811583,
7
+ -18.320374847984542
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 148.79125242873366,
19
+ 127.52281635676252,
20
+ -18.320374847984542
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 147.29125242873366,
32
+ 124.9247401454092,
33
+ -18.320374847984542
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 145.79125242873366,
45
+ 122.32666393405589,
46
+ -18.320374847984542
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 144.29125242873366,
58
+ 119.72858772270257,
59
+ -18.320374847984542
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 142.79125242873366,
71
+ 117.13051151134925,
72
+ -18.320374847984542
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 141.29125242873366,
84
+ 114.53243529999594,
85
+ -18.320374847984542
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 139.79125242873366,
97
+ 111.93435908864262,
98
+ -18.320374847984542
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 138.29125242873366,
110
+ 109.3362828772893,
111
+ -18.320374847984542
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 136.79125242873366,
123
+ 106.73820666593599,
124
+ -18.320374847984542
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 135.29125242873366,
136
+ 104.14013045458267,
137
+ -18.320374847984542
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 133.79125242873366,
149
+ 101.54205424322936,
150
+ -18.320374847984542
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 133.79125242873366,
162
+ 101.54205424322936,
163
+ -18.320374847984542
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 133.79125242873366,
175
+ 98.54205424322936,
176
+ -18.320374847984542
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 133.79125242873366,
188
+ 95.54205424322936,
189
+ -18.320374847984542
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 133.79125242873366,
201
+ 92.54205424322936,
202
+ -18.320374847984542
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 133.79125242873366,
214
+ 89.54205424322936,
215
+ -18.320374847984542
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 133.79125242873366,
227
+ 86.54205424322936,
228
+ -18.320374847984542
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 133.79125242873366,
240
+ 83.54205424322936,
241
+ -18.320374847984542
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 131.85336561203005,
254
+ 81.29258055686951,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-32-47_620145550/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -197.47693344507445,
6
+ 338.5167371089161,
7
+ -23.61747276014258
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -198.97693344507445,
19
+ 335.9186608975628,
20
+ -23.61747276014258
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -200.47693344507445,
32
+ 333.3205846862095,
33
+ -23.61747276014258
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -201.97693344507445,
45
+ 330.72250847485617,
46
+ -23.61747276014258
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -203.47693344507445,
58
+ 328.12443226350285,
59
+ -23.61747276014258
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -204.97693344507445,
71
+ 325.52635605214954,
72
+ -23.61747276014258
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -206.47693344507445,
84
+ 322.9282798407962,
85
+ -23.61747276014258
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -207.97693344507445,
97
+ 320.3302036294429,
98
+ -23.61747276014258
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -209.47693344507445,
110
+ 317.7321274180896,
111
+ -23.61747276014258
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -210.97693344507445,
123
+ 315.1340512067363,
124
+ -23.61747276014258
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -212.47693344507445,
136
+ 312.53597499538296,
137
+ -23.61747276014258
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -213.97693344507445,
149
+ 309.93789878402964,
150
+ -23.61747276014258
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -215.47693344507445,
162
+ 307.3398225726763,
163
+ -23.61747276014258
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -216.97693344507445,
175
+ 304.741746361323,
176
+ -23.61747276014258
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -218.47693344507445,
188
+ 302.1436701499697,
189
+ -23.61747276014258
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -219.97693344507445,
201
+ 299.5455939386164,
202
+ -23.61747276014258
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -221.47693344507445,
214
+ 296.94751772726306,
215
+ -23.61747276014258
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -222.97693344507445,
227
+ 294.34944151590975,
228
+ -23.61747276014258
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -224.47693344507445,
240
+ 291.75136530455643,
241
+ -23.61747276014258
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -225.97693344507445,
253
+ 289.1532890932031,
254
+ -23.61747276014258
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -227.47693344507445,
266
+ 286.5552128818498,
267
+ -23.61747276014258
268
+ ],
269
+ "type": "turn left",
270
+ "value": 30,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -227.47693344507445,
279
+ 286.5552128818498,
280
+ -23.61747276014258
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -227.47693344507445,
292
+ 283.5552128818498,
293
+ -23.61747276014258
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -227.47693344507445,
305
+ 280.5552128818498,
306
+ -23.61747276014258
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.5707963267948966
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -227.47693344507445,
318
+ 277.5552128818498,
319
+ -23.61747276014258
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -1.5707963267948966
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -227.42313041687012,
332
+ 276.43410530090335,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-34-37_711845894/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 198.37477199713223,
6
+ 198.26258427207614,
7
+ -20.21551685949426
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 196.87477199713223,
19
+ 195.66450806072282,
20
+ -20.21551685949426
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 195.37477199713223,
32
+ 193.0664318493695,
33
+ -20.21551685949426
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 193.87477199713223,
45
+ 190.4683556380162,
46
+ -20.21551685949426
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 192.37477199713223,
58
+ 187.87027942666288,
59
+ -20.21551685949426
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 190.87477199713223,
71
+ 185.27220321530956,
72
+ -20.21551685949426
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 189.37477199713223,
84
+ 182.67412700395624,
85
+ -20.21551685949426
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 187.87477199713223,
97
+ 180.07605079260293,
98
+ -20.21551685949426
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 186.37477199713223,
110
+ 177.4779745812496,
111
+ -20.21551685949426
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 184.87477199713223,
123
+ 174.8798983698963,
124
+ -20.21551685949426
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 183.37477199713223,
136
+ 172.28182215854298,
137
+ -20.21551685949426
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 181.87477199713223,
149
+ 169.68374594718966,
150
+ -20.21551685949426
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 180.37477199713223,
162
+ 167.08566973583635,
163
+ -20.21551685949426
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 178.87477199713223,
175
+ 164.48759352448303,
176
+ -20.21551685949426
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 177.37477199713223,
188
+ 161.88951731312972,
189
+ -20.21551685949426
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 175.87477199713223,
201
+ 159.2914411017764,
202
+ -20.21551685949426
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 174.37477199713223,
214
+ 156.69336489042308,
215
+ -20.21551685949426
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 172.87477199713223,
227
+ 154.09528867906977,
228
+ -20.21551685949426
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ 172.00853967666626,
241
+ 151.80226211547853,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-35-56_1501252996/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 56.1624865227758,
6
+ 240.25262115864217,
7
+ -22.419973066270103
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 53.1624865227758,
19
+ 240.25262115864217,
20
+ -22.419973066270103
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 50.1624865227758,
32
+ 240.25262115864217,
33
+ -22.419973066270103
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 47.1624865227758,
45
+ 240.25262115864217,
46
+ -22.419973066270103
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 44.1624865227758,
58
+ 240.25262115864217,
59
+ -22.419973066270103
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 41.1624865227758,
71
+ 240.25262115864217,
72
+ -22.419973066270103
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 38.1624865227758,
84
+ 240.25262115864217,
85
+ -22.419973066270103
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 35.1624865227758,
97
+ 240.25262115864217,
98
+ -22.419973066270103
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 32.1624865227758,
110
+ 240.25262115864217,
111
+ -22.419973066270103
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 29.1624865227758,
123
+ 240.25262115864217,
124
+ -22.419973066270103
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 26.1624865227758,
136
+ 240.25262115864217,
137
+ -22.419973066270103
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 23.1624865227758,
149
+ 240.25262115864217,
150
+ -22.419973066270103
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 20.1624865227758,
162
+ 240.25262115864217,
163
+ -22.419973066270103
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 17.1624865227758,
175
+ 240.25262115864217,
176
+ -22.419973066270103
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 14.1624865227758,
188
+ 240.25262115864217,
189
+ -22.419973066270103
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 11.1624865227758,
201
+ 240.25262115864217,
202
+ -22.419973066270103
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 8.1624865227758,
214
+ 240.25262115864217,
215
+ -22.419973066270103
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 5.162486522775801,
227
+ 240.25262115864217,
228
+ -22.419973066270103
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 2.162486522775801,
240
+ 240.25262115864217,
241
+ -22.419973066270103
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -0.8375134772241992,
253
+ 240.25262115864217,
254
+ -22.419973066270103
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -3.837513477224199,
266
+ 240.25262115864217,
267
+ -22.419973066270103
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -5.054965496063232,
280
+ 237.79356269836427,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-36-8_260152959/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -383.507695086896,
6
+ 288.6358473634209,
7
+ -15.607278864807729
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -383.507695086896,
19
+ 291.6358473634209,
20
+ -15.607278864807729
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -383.507695086896,
32
+ 294.6358473634209,
33
+ -15.607278864807729
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -383.507695086896,
45
+ 297.6358473634209,
46
+ -15.607278864807729
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -383.507695086896,
58
+ 300.6358473634209,
59
+ -15.607278864807729
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -383.507695086896,
71
+ 303.6358473634209,
72
+ -15.607278864807729
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -383.507695086896,
84
+ 306.6358473634209,
85
+ -15.607278864807729
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -383.507695086896,
97
+ 309.6358473634209,
98
+ -15.607278864807729
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -383.507695086896,
110
+ 312.6358473634209,
111
+ -15.607278864807729
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -383.507695086896,
123
+ 315.6358473634209,
124
+ -15.607278864807729
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -383.507695086896,
136
+ 318.6358473634209,
137
+ -15.607278864807729
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -383.507695086896,
149
+ 321.6358473634209,
150
+ -15.607278864807729
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -383.507695086896,
162
+ 324.6358473634209,
163
+ -15.607278864807729
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -383.507695086896,
175
+ 327.6358473634209,
176
+ -15.607278864807729
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -383.507695086896,
188
+ 330.6358473634209,
189
+ -15.607278864807729
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -383.507695086896,
201
+ 333.6358473634209,
202
+ -15.607278864807729
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.5707963267948966
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -383.507695086896,
214
+ 336.6358473634209,
215
+ -15.607278864807729
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.5707963267948966
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -383.507695086896,
227
+ 339.6358473634209,
228
+ -15.607278864807729
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.5707963267948966
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -383.507695086896,
240
+ 342.6358473634209,
241
+ -15.607278864807729
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 1.5707963267948966
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -383.507695086896,
253
+ 345.6358473634209,
254
+ -15.607278864807729
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -383.507695086896,
266
+ 348.6358473634209,
267
+ -15.607278864807729
268
+ ],
269
+ "type": "turn right",
270
+ "value": 30,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -383.507695086896,
279
+ 348.6358473634209,
280
+ -15.607278864807729
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -382.007695086896,
292
+ 351.2339235747742,
293
+ -15.607278864807729
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -380.34502296447755,
306
+ 354.05039978027344,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-37-26_1850952926/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -461.96887409999954,
6
+ 164.56001616282677,
7
+ -15.286476660670992
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -458.96887409999954,
19
+ 164.56001616282677,
20
+ -15.286476660670992
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -455.96887409999954,
32
+ 164.56001616282677,
33
+ -15.286476660670992
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -452.96887409999954,
45
+ 164.56001616282677,
46
+ -15.286476660670992
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -449.96887409999954,
58
+ 164.56001616282677,
59
+ -15.286476660670992
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -446.96887409999954,
71
+ 164.56001616282677,
72
+ -15.286476660670992
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -443.96887409999954,
84
+ 164.56001616282677,
85
+ -15.286476660670992
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -440.96887409999954,
97
+ 164.56001616282677,
98
+ -15.286476660670992
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -437.96887409999954,
110
+ 164.56001616282677,
111
+ -15.286476660670992
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -434.96887409999954,
123
+ 164.56001616282677,
124
+ -15.286476660670992
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -431.96887409999954,
136
+ 164.56001616282677,
137
+ -15.286476660670992
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -428.96887409999954,
149
+ 164.56001616282677,
150
+ -15.286476660670992
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -425.96887409999954,
162
+ 164.56001616282677,
163
+ -15.286476660670992
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 0.0
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -422.96887409999954,
175
+ 164.56001616282677,
176
+ -15.286476660670992
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 0.0
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -419.96887409999954,
188
+ 164.56001616282677,
189
+ -15.286476660670992
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.0
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -416.96887409999954,
201
+ 164.56001616282677,
202
+ -15.286476660670992
203
+ ],
204
+ "type": "turn right",
205
+ "value": 30,
206
+ "yaw": 0.0
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -416.96887409999954,
214
+ 164.56001616282677,
215
+ -15.286476660670992
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -414.3707978886462,
227
+ 163.06001616282677,
228
+ -15.286476660670992
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -411.7727216772929,
240
+ 161.56001616282677,
241
+ -15.286476660670992
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ -408.4424297332764,
254
+ 159.69162826538087,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-42-17_1295166342/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -414.96617704941013,
6
+ 213.72315833864434,
7
+ -23.82717423753652
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -413.46617704941013,
19
+ 216.32123454999765,
20
+ -23.82717423753652
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -411.96617704941013,
32
+ 218.91931076135097,
33
+ -23.82717423753652
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -410.46617704941013,
45
+ 221.5173869727043,
46
+ -23.82717423753652
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -408.96617704941013,
58
+ 224.1154631840576,
59
+ -23.82717423753652
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -407.46617704941013,
71
+ 226.71353939541092,
72
+ -23.82717423753652
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -405.96617704941013,
84
+ 229.31161560676424,
85
+ -23.82717423753652
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -404.46617704941013,
97
+ 231.90969181811755,
98
+ -23.82717423753652
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -402.96617704941013,
110
+ 234.50776802947087,
111
+ -23.82717423753652
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -401.46617704941013,
123
+ 237.10584424082418,
124
+ -23.82717423753652
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -399.96617704941013,
136
+ 239.7039204521775,
137
+ -23.82717423753652
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -398.46617704941013,
149
+ 242.30199666353082,
150
+ -23.82717423753652
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -396.96617704941013,
162
+ 244.90007287488413,
163
+ -23.82717423753652
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -395.46617704941013,
175
+ 247.49814908623745,
176
+ -23.82717423753652
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -393.96617704941013,
188
+ 250.09622529759076,
189
+ -23.82717423753652
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -392.46617704941013,
201
+ 252.69430150894408,
202
+ -23.82717423753652
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -390.96617704941013,
214
+ 255.2923777202974,
215
+ -23.82717423753652
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -389.46617704941013,
227
+ 257.8904539316507,
228
+ -23.82717423753652
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -387.96617704941013,
240
+ 260.488530143004,
241
+ -23.82717423753652
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": 1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -387.96617704941013,
253
+ 260.488530143004,
254
+ -23.82717423753652
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": 0.523598775598299
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -387.96617704941013,
266
+ 260.488530143004,
267
+ -23.82717423753652
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.220446049250313e-16
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -384.96617704941013,
279
+ 260.488530143004,
280
+ -23.82717423753652
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 2.220446049250313e-16
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -382.8172357559204,
293
+ 262.51546230316166,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-42-3_298625210/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -166.62297022864323,
6
+ 205.6313573960988,
7
+ -15.529315096055047
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -165.12297022864323,
19
+ 203.03328118474548,
20
+ -15.529315096055047
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -163.62297022864323,
32
+ 200.43520497339216,
33
+ -15.529315096055047
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -162.12297022864323,
45
+ 197.83712876203884,
46
+ -15.529315096055047
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -160.62297022864323,
58
+ 195.23905255068553,
59
+ -15.529315096055047
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -159.12297022864323,
71
+ 192.6409763393322,
72
+ -15.529315096055047
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -157.62297022864323,
84
+ 190.0429001279789,
85
+ -15.529315096055047
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -156.12297022864323,
97
+ 187.44482391662558,
98
+ -15.529315096055047
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -154.62297022864323,
110
+ 184.84674770527226,
111
+ -15.529315096055047
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -153.12297022864323,
123
+ 182.24867149391895,
124
+ -15.529315096055047
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -151.62297022864323,
136
+ 179.65059528256563,
137
+ -15.529315096055047
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -150.12297022864323,
149
+ 177.05251907121232,
150
+ -15.529315096055047
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -148.62297022864323,
162
+ 174.454442859859,
163
+ -15.529315096055047
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -147.12297022864323,
175
+ 171.85636664850568,
176
+ -15.529315096055047
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -145.62297022864323,
188
+ 169.25829043715237,
189
+ -15.529315096055047
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -144.12297022864323,
201
+ 166.66021422579905,
202
+ -15.529315096055047
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -142.62297022864323,
214
+ 164.06213801444574,
215
+ -15.529315096055047
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -141.12297022864323,
227
+ 161.46406180309242,
228
+ -15.529315096055047
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -139.62297022864323,
240
+ 158.8659855917391,
241
+ -15.529315096055047
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -138.12297022864323,
253
+ 156.2679093803858,
254
+ -15.529315096055047
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -136.62297022864323,
266
+ 153.66983316903247,
267
+ -15.529315096055047
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -135.12297022864323,
279
+ 151.07175695767916,
280
+ -15.529315096055047
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -133.62297022864323,
292
+ 148.47368074632584,
293
+ -15.529315096055047
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -130.05646734237672,
306
+ 147.10406847000124,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-43-11_382697713/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -88.64844371234526,
6
+ 188.5423301859514,
7
+ -17.760395326337594
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -90.14844371234526,
19
+ 185.9442539745981,
20
+ -17.760395326337594
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -91.64844371234526,
32
+ 183.34617776324478,
33
+ -17.760395326337594
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -93.14844371234526,
45
+ 180.74810155189147,
46
+ -17.760395326337594
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -94.64844371234526,
58
+ 178.15002534053815,
59
+ -17.760395326337594
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -96.14844371234526,
71
+ 175.55194912918483,
72
+ -17.760395326337594
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -97.64844371234526,
84
+ 172.95387291783152,
85
+ -17.760395326337594
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -99.14844371234526,
97
+ 170.3557967064782,
98
+ -17.760395326337594
99
+ ],
100
+ "type": "turn right",
101
+ "value": 30,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -99.14844371234526,
110
+ 170.3557967064782,
111
+ -17.760395326337594
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.617993877991494
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -101.74651992369857,
123
+ 168.8557967064782,
124
+ -17.760395326337594
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -104.34459613505189,
136
+ 167.3557967064782,
137
+ -17.760395326337594
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -106.9426723464052,
149
+ 165.8557967064782,
150
+ -17.760395326337594
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -109.54074855775852,
162
+ 164.3557967064782,
163
+ -17.760395326337594
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -112.13882476911184,
175
+ 162.8557967064782,
176
+ -17.760395326337594
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -114.73690098046515,
188
+ 161.3557967064782,
189
+ -17.760395326337594
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -117.33497719181847,
201
+ 159.8557967064782,
202
+ -17.760395326337594
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -119.93305340317178,
214
+ 158.3557967064782,
215
+ -17.760395326337594
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -122.5311296145251,
227
+ 156.8557967064782,
228
+ -17.760395326337594
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -122.5311296145251,
240
+ 156.8557967064782,
241
+ -17.760395326337594
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931957
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -124.0311296145251,
253
+ 154.2577204951249,
254
+ -17.760395326337594
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -125.5311296145251,
266
+ 151.65964428377157,
267
+ -17.760395326337594
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -127.0311296145251,
279
+ 149.06156807241825,
280
+ -17.760395326337594
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -130.05646734237672,
293
+ 147.10406847000124,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-47-28_155789224/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 132.61301695788694,
6
+ 141.4668638616621,
7
+ -17.939876351524447
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 135.61301695788694,
19
+ 141.4668638616621,
20
+ -17.939876351524447
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 138.61301695788694,
32
+ 141.4668638616621,
33
+ -17.939876351524447
34
+ ],
35
+ "type": "turn right",
36
+ "value": 30,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 138.61301695788694,
45
+ 141.4668638616621,
46
+ -17.939876351524447
47
+ ],
48
+ "type": "turn right",
49
+ "value": 30,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 138.61301695788694,
58
+ 141.4668638616621,
59
+ -17.939876351524447
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965976
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 140.11301695788694,
71
+ 138.86878765030878,
72
+ -17.939876351524447
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 141.61301695788694,
84
+ 136.27071143895546,
85
+ -17.939876351524447
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 143.11301695788694,
97
+ 133.67263522760214,
98
+ -17.939876351524447
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 144.61301695788694,
110
+ 131.07455901624883,
111
+ -17.939876351524447
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 146.11301695788694,
123
+ 128.4764828048955,
124
+ -17.939876351524447
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 147.61301695788694,
136
+ 125.8784065935422,
137
+ -17.939876351524447
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 149.11301695788694,
149
+ 123.28033038218888,
150
+ -17.939876351524447
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 150.61301695788694,
162
+ 120.68225417083556,
163
+ -17.939876351524447
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 152.11301695788694,
175
+ 118.08417795948225,
176
+ -17.939876351524447
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 153.61301695788694,
188
+ 115.48610174812893,
189
+ -17.939876351524447
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 155.11301695788694,
201
+ 112.88802553677561,
202
+ -17.939876351524447
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 156.61301695788694,
214
+ 110.2899493254223,
215
+ -17.939876351524447
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 158.11301695788694,
227
+ 107.69187311406898,
228
+ -17.939876351524447
229
+ ],
230
+ "type": "turn left",
231
+ "value": 30,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 158.11301695788694,
240
+ 107.69187311406898,
241
+ -17.939876351524447
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.523598775598299
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 160.71109316924026,
253
+ 106.19187311406898,
254
+ -17.939876351524447
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 163.30916938059357,
266
+ 104.69187311406898,
267
+ -17.939876351524447
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 165.80752325057983,
280
+ 103.6218903541565,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-48-21_619054081/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -330.98665600915115,
6
+ 169.867921098668,
7
+ -23.507820540920783
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -328.38857979779783,
19
+ 168.367921098668,
20
+ -23.507820540920783
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -325.7905035864445,
32
+ 166.867921098668,
33
+ -23.507820540920783
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -323.1924273750912,
45
+ 165.367921098668,
46
+ -23.507820540920783
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -320.5943511637379,
58
+ 163.867921098668,
59
+ -23.507820540920783
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -317.99627495238457,
71
+ 162.367921098668,
72
+ -23.507820540920783
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -315.39819874103125,
84
+ 160.867921098668,
85
+ -23.507820540920783
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -312.80012252967794,
97
+ 159.367921098668,
98
+ -23.507820540920783
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -310.2020463183246,
110
+ 157.867921098668,
111
+ -23.507820540920783
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -0.5235987755982988
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -307.6039701069713,
123
+ 156.367921098668,
124
+ -23.507820540920783
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -305.005893895618,
136
+ 154.867921098668,
137
+ -23.507820540920783
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -302.40781768426467,
149
+ 153.367921098668,
150
+ -23.507820540920783
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -299.80974147291136,
162
+ 151.867921098668,
163
+ -23.507820540920783
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -297.21166526155804,
175
+ 150.367921098668,
176
+ -23.507820540920783
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -294.6135890502047,
188
+ 148.867921098668,
189
+ -23.507820540920783
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -294.6135890502047,
201
+ 148.867921098668,
202
+ -23.507820540920783
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965976
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -293.1135890502047,
214
+ 146.2698448873147,
215
+ -23.507820540920783
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -291.6135890502047,
227
+ 143.67176867596137,
228
+ -23.507820540920783
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -290.1135890502047,
240
+ 141.07369246460806,
241
+ -23.507820540920783
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -288.6135890502047,
253
+ 138.47561625325474,
254
+ -23.507820540920783
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -287.1135890502047,
266
+ 135.87754004190143,
267
+ -23.507820540920783
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -285.6135890502047,
279
+ 133.2794638305481,
280
+ -23.507820540920783
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -284.1135890502047,
292
+ 130.6813876191948,
293
+ -23.507820540920783
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -282.6135890502047,
305
+ 128.08331140784148,
306
+ -23.507820540920783
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -1.0471975511965979
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -281.1135890502047,
318
+ 125.48523519648816,
319
+ -23.507820540920783
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -1.0471975511965979
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -278.29589424133303,
332
+ 125.47306270599366,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-51-59_915256190/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 224.83635537955243,
6
+ 119.37419787867358,
7
+ -22.463118974734403
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 221.83635537955243,
19
+ 119.37419787867358,
20
+ -22.463118974734403
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 218.83635537955243,
32
+ 119.37419787867358,
33
+ -22.463118974734403
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 215.83635537955243,
45
+ 119.37419787867358,
46
+ -22.463118974734403
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 212.83635537955243,
58
+ 119.37419787867358,
59
+ -22.463118974734403
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 209.83635537955243,
71
+ 119.37419787867358,
72
+ -22.463118974734403
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 206.83635537955243,
84
+ 119.37419787867358,
85
+ -22.463118974734403
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 203.83635537955243,
97
+ 119.37419787867358,
98
+ -22.463118974734403
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 200.83635537955243,
110
+ 119.37419787867358,
111
+ -22.463118974734403
112
+ ],
113
+ "type": "turn left",
114
+ "value": 30,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 200.83635537955243,
123
+ 119.37419787867358,
124
+ -22.463118974734403
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.665191429188092
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 198.2382791681991,
136
+ 117.87419787867358,
137
+ -22.463118974734403
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 195.6402029568458,
149
+ 116.37419787867358,
150
+ -22.463118974734403
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 193.04212674549248,
162
+ 114.87419787867358,
163
+ -22.463118974734403
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 190.44405053413917,
175
+ 113.37419787867358,
176
+ -22.463118974734403
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 187.84597432278585,
188
+ 111.87419787867358,
189
+ -22.463118974734403
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 185.24789811143253,
201
+ 110.37419787867358,
202
+ -22.463118974734403
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 182.64982190007922,
214
+ 108.87419787867358,
215
+ -22.463118974734403
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 180.0517456887259,
227
+ 107.37419787867358,
228
+ -22.463118974734403
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 177.45366947737259,
240
+ 105.87419787867358,
241
+ -22.463118974734403
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 177.45366947737259,
253
+ 105.87419787867358,
254
+ -22.463118974734403
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 174.45366947737259,
266
+ 105.87419787867358,
267
+ -22.463118974734403
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 171.45366947737259,
279
+ 105.87419787867358,
280
+ -22.463118974734403
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 3.141592653589793
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 168.45366947737259,
292
+ 105.87419787867358,
293
+ -22.463118974734403
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 3.141592653589793
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 165.80752325057983,
306
+ 103.6218903541565,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-52-24_846942590/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -328.3476171171739,
6
+ 287.09287146276705,
7
+ -21.124655373458822
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -330.9456933285272,
19
+ 285.59287146276705,
20
+ -21.124655373458822
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -333.54376953988054,
32
+ 284.09287146276705,
33
+ -21.124655373458822
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -336.14184575123386,
45
+ 282.59287146276705,
46
+ -21.124655373458822
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -338.7399219625872,
58
+ 281.09287146276705,
59
+ -21.124655373458822
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -341.3379981739405,
71
+ 279.59287146276705,
72
+ -21.124655373458822
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -343.9360743852938,
84
+ 278.09287146276705,
85
+ -21.124655373458822
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -346.5341505966471,
97
+ 276.59287146276705,
98
+ -21.124655373458822
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -349.13222680800044,
110
+ 275.09287146276705,
111
+ -21.124655373458822
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -351.73030301935376,
123
+ 273.59287146276705,
124
+ -21.124655373458822
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -354.32837923070707,
136
+ 272.09287146276705,
137
+ -21.124655373458822
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -356.9264554420604,
149
+ 270.59287146276705,
150
+ -21.124655373458822
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -359.5245316534137,
162
+ 269.09287146276705,
163
+ -21.124655373458822
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -362.122607864767,
175
+ 267.59287146276705,
176
+ -21.124655373458822
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -364.72068407612034,
188
+ 266.09287146276705,
189
+ -21.124655373458822
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -364.72068407612034,
201
+ 266.09287146276705,
202
+ -21.124655373458822
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -367.72068407612034,
214
+ 266.09287146276705,
215
+ -21.124655373458822
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -370.72068407612034,
227
+ 266.09287146276705,
228
+ -21.124655373458822
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -373.72068407612034,
240
+ 266.09287146276705,
241
+ -21.124655373458822
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -376.72068407612034,
253
+ 266.09287146276705,
254
+ -21.124655373458822
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -379.72068407612034,
266
+ 266.09287146276705,
267
+ -21.124655373458822
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 3.141592653589793
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ -382.3751014709473,
280
+ 263.42621479034426,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-53-15_1371499336/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -24.791965973074902,
6
+ 210.10746077106086,
7
+ -18.66796901873419
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -27.390042184428218,
19
+ 211.60746077106086,
20
+ -18.66796901873419
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -29.988118395781534,
32
+ 213.10746077106086,
33
+ -18.66796901873419
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -32.58619460713485,
45
+ 214.60746077106086,
46
+ -18.66796901873419
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -35.184270818488166,
58
+ 216.10746077106086,
59
+ -18.66796901873419
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -37.78234702984148,
71
+ 217.60746077106086,
72
+ -18.66796901873419
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -40.3804232411948,
84
+ 219.10746077106086,
85
+ -18.66796901873419
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -42.978499452548114,
97
+ 220.60746077106086,
98
+ -18.66796901873419
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -45.57657566390143,
110
+ 222.10746077106086,
111
+ -18.66796901873419
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -48.174651875254746,
123
+ 223.60746077106086,
124
+ -18.66796901873419
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -50.77272808660806,
136
+ 225.10746077106086,
137
+ -18.66796901873419
138
+ ],
139
+ "type": "turn left",
140
+ "value": 30,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -50.77272808660806,
149
+ 225.10746077106086,
150
+ -18.66796901873419
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -53.77272808660806,
162
+ 225.10746077106086,
163
+ -18.66796901873419
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -56.77272808660806,
175
+ 225.10746077106086,
176
+ -18.66796901873419
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -59.77272808660806,
188
+ 225.10746077106086,
189
+ -18.66796901873419
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -62.77272808660806,
201
+ 225.10746077106086,
202
+ -18.66796901873419
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -65.77272808660805,
214
+ 225.10746077106086,
215
+ -18.66796901873419
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -68.77272808660805,
227
+ 225.10746077106086,
228
+ -18.66796901873419
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -71.77272808660805,
240
+ 225.10746077106086,
241
+ -18.66796901873419
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -74.77272808660805,
253
+ 225.10746077106086,
254
+ -18.66796901873419
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ -78.11547446250916,
267
+ 225.18597507476807,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-56-58_452867621/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 39.741722088480124,
6
+ -26.620006164576125,
7
+ -19.522746981532578
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 37.14364587712681,
19
+ -28.120006164576125,
20
+ -19.522746981532578
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 34.54556966577349,
32
+ -29.620006164576125,
33
+ -19.522746981532578
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 31.947493454420176,
45
+ -31.120006164576125,
46
+ -19.522746981532578
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 29.34941724306686,
58
+ -32.620006164576125,
59
+ -19.522746981532578
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 26.751341031713544,
71
+ -34.120006164576125,
72
+ -19.522746981532578
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 24.153264820360228,
84
+ -35.620006164576125,
85
+ -19.522746981532578
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 21.555188609006912,
97
+ -37.120006164576125,
98
+ -19.522746981532578
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 18.957112397653596,
110
+ -38.620006164576125,
111
+ -19.522746981532578
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 16.35903618630028,
123
+ -40.120006164576125,
124
+ -19.522746981532578
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 13.760959974946964,
136
+ -41.620006164576125,
137
+ -19.522746981532578
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 11.162883763593648,
149
+ -43.120006164576125,
150
+ -19.522746981532578
151
+ ],
152
+ "type": "turn left",
153
+ "value": 30,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 11.162883763593648,
162
+ -43.120006164576125,
163
+ -19.522746981532578
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931957
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 9.662883763593648,
175
+ -45.71808237592944,
176
+ -19.522746981532578
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 8.162883763593648,
188
+ -48.31615858728276,
189
+ -19.522746981532578
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 6.662883763593649,
201
+ -50.91423479863607,
202
+ -19.522746981532578
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 5.1628837635936495,
214
+ -53.51231100998939,
215
+ -19.522746981532578
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 3.6628837635936504,
227
+ -56.110387221342705,
228
+ -19.522746981532578
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 2.1628837635936513,
240
+ -58.70846343269602,
241
+ -19.522746981532578
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 2.1628837635936513,
253
+ -58.70846343269602,
254
+ -19.522746981532578
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.617993877991494
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -0.4351924477596647,
266
+ -60.20846343269602,
267
+ -19.522746981532578
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -3.0332686591129807,
279
+ -61.70846343269602,
280
+ -19.522746981532578
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -5.631344870466297,
292
+ -63.20846343269602,
293
+ -19.522746981532578
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -8.37222833633423,
306
+ -64.11597180366516,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-57-49_213801961/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -184.30547953364731,
6
+ 162.06602349648537,
7
+ -15.155843238624474
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -181.30547953364731,
19
+ 162.06602349648537,
20
+ -15.155843238624474
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -178.30547953364731,
32
+ 162.06602349648537,
33
+ -15.155843238624474
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -175.30547953364731,
45
+ 162.06602349648537,
46
+ -15.155843238624474
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -172.30547953364731,
58
+ 162.06602349648537,
59
+ -15.155843238624474
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -169.30547953364731,
71
+ 162.06602349648537,
72
+ -15.155843238624474
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -166.30547953364731,
84
+ 162.06602349648537,
85
+ -15.155843238624474
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -163.30547953364731,
97
+ 162.06602349648537,
98
+ -15.155843238624474
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -160.30547953364731,
110
+ 162.06602349648537,
111
+ -15.155843238624474
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -157.30547953364731,
123
+ 162.06602349648537,
124
+ -15.155843238624474
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 0.0
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -154.30547953364731,
136
+ 162.06602349648537,
137
+ -15.155843238624474
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 0.0
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -151.30547953364731,
149
+ 162.06602349648537,
150
+ -15.155843238624474
151
+ ],
152
+ "type": "turn right",
153
+ "value": 30,
154
+ "yaw": 0.0
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -151.30547953364731,
162
+ 162.06602349648537,
163
+ -15.155843238624474
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -151.30547953364731,
175
+ 162.06602349648537,
176
+ -15.155843238624474
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965976
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -149.80547953364731,
188
+ 159.46794728513206,
189
+ -15.155843238624474
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -148.30547953364731,
201
+ 156.86987107377874,
202
+ -15.155843238624474
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -146.80547953364731,
214
+ 154.27179486242542,
215
+ -15.155843238624474
216
+ ],
217
+ "type": "turn left",
218
+ "value": 30,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -146.80547953364731,
227
+ 154.27179486242542,
228
+ -15.155843238624474
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.523598775598299
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -144.207403322294,
240
+ 152.77179486242542,
241
+ -15.155843238624474
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -141.60932711094068,
253
+ 151.27179486242542,
254
+ -15.155843238624474
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -139.01125089958737,
266
+ 149.77179486242542,
267
+ -15.155843238624474
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -136.41317468823405,
279
+ 148.27179486242542,
280
+ -15.155843238624474
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -133.81509847688073,
292
+ 146.77179486242542,
293
+ -15.155843238624474
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -130.05646734237672,
306
+ 147.10406847000124,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-7-0_990892921/pose.jsonl ADDED
@@ -0,0 +1,365 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 80.89780739692034,
6
+ 475.9547213689344,
7
+ -17.844011951806415
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 79.39780739692034,
19
+ 473.35664515758106,
20
+ -17.844011951806415
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 77.89780739692034,
32
+ 470.75856894622774,
33
+ -17.844011951806415
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 76.39780739692034,
45
+ 468.1604927348744,
46
+ -17.844011951806415
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 74.89780739692034,
58
+ 465.5624165235211,
59
+ -17.844011951806415
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 73.39780739692034,
71
+ 462.9643403121678,
72
+ -17.844011951806415
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 71.89780739692034,
84
+ 460.3662641008145,
85
+ -17.844011951806415
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 70.39780739692034,
97
+ 457.76818788946116,
98
+ -17.844011951806415
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 68.89780739692034,
110
+ 455.17011167810784,
111
+ -17.844011951806415
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 67.39780739692034,
123
+ 452.5720354667545,
124
+ -17.844011951806415
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 65.89780739692034,
136
+ 449.9739592554012,
137
+ -17.844011951806415
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 64.39780739692034,
149
+ 447.3758830440479,
150
+ -17.844011951806415
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 62.89780739692034,
162
+ 444.7778068326946,
163
+ -17.844011951806415
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 61.39780739692034,
175
+ 442.17973062134126,
176
+ -17.844011951806415
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 59.89780739692034,
188
+ 439.58165440998795,
189
+ -17.844011951806415
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 58.39780739692034,
201
+ 436.98357819863463,
202
+ -17.844011951806415
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 56.89780739692034,
214
+ 434.3855019872813,
215
+ -17.844011951806415
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 55.39780739692034,
227
+ 431.787425775928,
228
+ -17.844011951806415
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 53.89780739692034,
240
+ 429.1893495645747,
241
+ -17.844011951806415
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 52.39780739692034,
253
+ 426.59127335322137,
254
+ -17.844011951806415
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 50.89780739692034,
266
+ 423.99319714186805,
267
+ -17.844011951806415
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 49.39780739692034,
279
+ 421.39512093051474,
280
+ -17.844011951806415
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 47.89780739692034,
292
+ 418.7970447191614,
293
+ -17.844011951806415
294
+ ],
295
+ "type": "turn right",
296
+ "value": 30,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 47.89780739692034,
305
+ 418.7970447191614,
306
+ -17.844011951806415
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.617993877991494
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 45.299731185567026,
318
+ 417.2970447191614,
319
+ -17.844011951806415
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.6179938779914944
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 42.70165497421371,
331
+ 415.7970447191614,
332
+ -17.844011951806415
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": -2.6179938779914944
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 40.103578762860394,
344
+ 414.2970447191614,
345
+ -17.844011951806415
346
+ ],
347
+ "type": "stop",
348
+ "value": 0,
349
+ "yaw": -2.6179938779914944
350
+ }
351
+ }
352
+ {
353
+ "aim_landmark": {
354
+ "color": "test",
355
+ "feature": "test",
356
+ "position": [
357
+ 37.990253353118895,
358
+ 414.50321331024173,
359
+ 0.0
360
+ ],
361
+ "shape": "test",
362
+ "size": "test",
363
+ "type": "building"
364
+ }
365
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-7-53_111537764/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 286.08573583911254,
6
+ 86.53108525856773,
7
+ -17.448866893672133
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 284.58573583911254,
19
+ 89.12916146992104,
20
+ -17.448866893672133
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 283.08573583911254,
32
+ 91.72723768127436,
33
+ -17.448866893672133
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 281.58573583911254,
45
+ 94.32531389262768,
46
+ -17.448866893672133
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 280.08573583911254,
58
+ 96.92339010398099,
59
+ -17.448866893672133
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 278.58573583911254,
71
+ 99.52146631533431,
72
+ -17.448866893672133
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 277.08573583911254,
84
+ 102.11954252668762,
85
+ -17.448866893672133
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 275.58573583911254,
97
+ 104.71761873804094,
98
+ -17.448866893672133
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 274.08573583911254,
110
+ 107.31569494939426,
111
+ -17.448866893672133
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 272.58573583911254,
123
+ 109.91377116074757,
124
+ -17.448866893672133
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 271.08573583911254,
136
+ 112.51184737210089,
137
+ -17.448866893672133
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 269.58573583911254,
149
+ 115.1099235834542,
150
+ -17.448866893672133
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 268.08573583911254,
162
+ 117.70799979480752,
163
+ -17.448866893672133
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 266.58573583911254,
175
+ 120.30607600616084,
176
+ -17.448866893672133
177
+ ],
178
+ "type": "turn left",
179
+ "value": 30,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 266.58573583911254,
188
+ 120.30607600616084,
189
+ -17.448866893672133
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.617993877991494
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 263.98765962775923,
201
+ 121.80607600616084,
202
+ -17.448866893672133
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 261.3895834164059,
214
+ 123.30607600616084,
215
+ -17.448866893672133
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 258.7915072050526,
227
+ 124.80607600616084,
228
+ -17.448866893672133
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 256.1934309936993,
240
+ 126.30607600616084,
241
+ -17.448866893672133
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 253.59535478234596,
253
+ 127.80607600616084,
254
+ -17.448866893672133
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 250.99727857099265,
266
+ 129.30607600616082,
267
+ -17.448866893672133
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 248.63583488464357,
280
+ 132.28635482788087,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_18-8-30_438792350/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 227.31348753292264,
6
+ -66.7965582568902,
7
+ -20.705091768866026
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 224.71541132156932,
19
+ -68.2965582568902,
20
+ -20.705091768866026
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 222.117335110216,
32
+ -69.7965582568902,
33
+ -20.705091768866026
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 219.5192588988627,
45
+ -71.2965582568902,
46
+ -20.705091768866026
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 216.92118268750937,
58
+ -72.7965582568902,
59
+ -20.705091768866026
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 214.32310647615606,
71
+ -74.2965582568902,
72
+ -20.705091768866026
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 211.72503026480274,
84
+ -75.7965582568902,
85
+ -20.705091768866026
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 209.12695405344942,
97
+ -77.2965582568902,
98
+ -20.705091768866026
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 206.5288778420961,
110
+ -78.7965582568902,
111
+ -20.705091768866026
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 203.9308016307428,
123
+ -80.2965582568902,
124
+ -20.705091768866026
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 201.33272541938948,
136
+ -81.7965582568902,
137
+ -20.705091768866026
138
+ ],
139
+ "type": "turn right",
140
+ "value": 30,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 201.33272541938948,
149
+ -81.7965582568902,
150
+ -20.705091768866026
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 198.33272541938948,
162
+ -81.7965582568902,
163
+ -20.705091768866026
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 195.33272541938948,
175
+ -81.7965582568902,
176
+ -20.705091768866026
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 3.141592653589793
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 192.33272541938948,
188
+ -81.7965582568902,
189
+ -20.705091768866026
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 189.33272541938948,
201
+ -81.7965582568902,
202
+ -20.705091768866026
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 186.33272541938948,
214
+ -81.7965582568902,
215
+ -20.705091768866026
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 183.33272541938948,
227
+ -81.7965582568902,
228
+ -20.705091768866026
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 180.33272541938948,
240
+ -81.7965582568902,
241
+ -20.705091768866026
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 178.66267461776735,
254
+ -81.21840529441835,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-16-34_777720504/pose.jsonl ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 146.41283024060857,
6
+ 76.02202579377564,
7
+ -19.928801703556204
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.0
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 149.41283024060857,
19
+ 76.02202579377564,
20
+ -19.928801703556204
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.0
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 152.41283024060857,
32
+ 76.02202579377564,
33
+ -19.928801703556204
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.0
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 155.41283024060857,
45
+ 76.02202579377564,
46
+ -19.928801703556204
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.0
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 158.41283024060857,
58
+ 76.02202579377564,
59
+ -19.928801703556204
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.0
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 161.41283024060857,
71
+ 76.02202579377564,
72
+ -19.928801703556204
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.0
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 164.41283024060857,
84
+ 76.02202579377564,
85
+ -19.928801703556204
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.0
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 167.41283024060857,
97
+ 76.02202579377564,
98
+ -19.928801703556204
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 0.0
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 170.41283024060857,
110
+ 76.02202579377564,
111
+ -19.928801703556204
112
+ ],
113
+ "type": "turn right",
114
+ "value": 30,
115
+ "yaw": 0.0
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 170.41283024060857,
123
+ 76.02202579377564,
124
+ -19.928801703556204
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -0.5235987755982988
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 173.0109064519619,
136
+ 74.52202579377564,
137
+ -19.928801703556204
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -0.5235987755982988
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 175.6089826633152,
149
+ 73.02202579377564,
150
+ -19.928801703556204
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -0.5235987755982988
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 178.20705887466852,
162
+ 71.52202579377564,
163
+ -19.928801703556204
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -0.5235987755982988
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 180.80513508602183,
175
+ 70.02202579377564,
176
+ -19.928801703556204
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -0.5235987755982988
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 183.40321129737515,
188
+ 68.52202579377564,
189
+ -19.928801703556204
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -0.5235987755982988
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 186.00128750872847,
201
+ 67.02202579377564,
202
+ -19.928801703556204
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 188.59936372008178,
214
+ 65.52202579377564,
215
+ -19.928801703556204
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 191.1974399314351,
227
+ 64.02202579377564,
228
+ -19.928801703556204
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 193.79551614278841,
240
+ 62.52202579377564,
241
+ -19.928801703556204
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 196.39359235414173,
253
+ 61.02202579377564,
254
+ -19.928801703556204
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 198.99166856549505,
266
+ 59.52202579377564,
267
+ -19.928801703556204
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 201.58974477684836,
279
+ 58.02202579377564,
280
+ -19.928801703556204
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 204.18782098820168,
292
+ 56.52202579377564,
293
+ -19.928801703556204
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ 206.785897199555,
305
+ 55.02202579377564,
306
+ -19.928801703556204
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ 209.3839734109083,
318
+ 53.52202579377564,
319
+ -19.928801703556204
320
+ ],
321
+ "type": "turn left",
322
+ "value": 30,
323
+ "yaw": -0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ 209.3839734109083,
331
+ 53.52202579377564,
332
+ -19.928801703556204
333
+ ],
334
+ "type": "go straight",
335
+ "value": 3,
336
+ "yaw": 0.0
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ 212.3839734109083,
344
+ 53.52202579377564,
345
+ -19.928801703556204
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": 0.0
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ 215.3839734109083,
357
+ 53.52202579377564,
358
+ -19.928801703556204
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": 0.0
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ 218.32671661376955,
371
+ 52.17227687835694,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-19-40_655495367/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 126.4652400530598,
6
+ 66.53598211421387,
7
+ -20.096906216246456
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 0.5235987755982988
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 129.06331626441312,
19
+ 68.03598211421387,
20
+ -20.096906216246456
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 0.5235987755982988
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 131.66139247576643,
32
+ 69.53598211421387,
33
+ -20.096906216246456
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 0.5235987755982988
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 134.25946868711975,
45
+ 71.03598211421387,
46
+ -20.096906216246456
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 0.5235987755982988
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 136.85754489847307,
58
+ 72.53598211421387,
59
+ -20.096906216246456
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 0.5235987755982988
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 139.45562110982638,
71
+ 74.03598211421387,
72
+ -20.096906216246456
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 0.5235987755982988
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 142.0536973211797,
84
+ 75.53598211421387,
85
+ -20.096906216246456
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 0.5235987755982988
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 144.651773532533,
97
+ 77.03598211421387,
98
+ -20.096906216246456
99
+ ],
100
+ "type": "turn left",
101
+ "value": 30,
102
+ "yaw": 0.5235987755982988
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 144.651773532533,
110
+ 77.03598211421387,
111
+ -20.096906216246456
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965976
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 146.151773532533,
123
+ 79.63405832556718,
124
+ -20.096906216246456
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 147.651773532533,
136
+ 82.2321345369205,
137
+ -20.096906216246456
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 149.151773532533,
149
+ 84.83021074827381,
150
+ -20.096906216246456
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 150.651773532533,
162
+ 87.42828695962713,
163
+ -20.096906216246456
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 152.151773532533,
175
+ 90.02636317098045,
176
+ -20.096906216246456
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 153.651773532533,
188
+ 92.62443938233376,
189
+ -20.096906216246456
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 155.151773532533,
201
+ 95.22251559368708,
202
+ -20.096906216246456
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 156.651773532533,
214
+ 97.8205918050404,
215
+ -20.096906216246456
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 158.151773532533,
227
+ 100.41866801639371,
228
+ -20.096906216246456
229
+ ],
230
+ "type": "turn right",
231
+ "value": 30,
232
+ "yaw": 1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 158.151773532533,
240
+ 100.41866801639371,
241
+ -20.096906216246456
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.523598775598299
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 160.74984974388633,
253
+ 101.91866801639371,
254
+ -20.096906216246456
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 163.34792595523965,
266
+ 103.41866801639371,
267
+ -20.096906216246456
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 165.80752325057983,
280
+ 103.6218903541565,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-2-48_1309383303/pose.jsonl ADDED
@@ -0,0 +1,274 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -134.9644222789465,
6
+ 99.45973841097089,
7
+ -23.540395617175967
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -137.56249849029982,
19
+ 97.95973841097089,
20
+ -23.540395617175967
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -140.16057470165313,
32
+ 96.45973841097089,
33
+ -23.540395617175967
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -142.75865091300645,
45
+ 94.95973841097089,
46
+ -23.540395617175967
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -145.35672712435976,
58
+ 93.45973841097089,
59
+ -23.540395617175967
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -147.95480333571308,
71
+ 91.95973841097089,
72
+ -23.540395617175967
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -150.5528795470664,
84
+ 90.45973841097089,
85
+ -23.540395617175967
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -153.1509557584197,
97
+ 88.95973841097089,
98
+ -23.540395617175967
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -155.74903196977303,
110
+ 87.45973841097089,
111
+ -23.540395617175967
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -158.34710818112634,
123
+ 85.95973841097089,
124
+ -23.540395617175967
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -160.94518439247966,
136
+ 84.45973841097089,
137
+ -23.540395617175967
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -163.54326060383298,
149
+ 82.95973841097089,
150
+ -23.540395617175967
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -166.1413368151863,
162
+ 81.45973841097089,
163
+ -23.540395617175967
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -168.7394130265396,
175
+ 79.95973841097089,
176
+ -23.540395617175967
177
+ ],
178
+ "type": "turn right",
179
+ "value": 30,
180
+ "yaw": -2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -168.7394130265396,
188
+ 79.95973841097089,
189
+ -23.540395617175967
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -3.141592653589793
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -171.7394130265396,
201
+ 79.95973841097089,
202
+ -23.540395617175967
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 3.141592653589793
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -174.7394130265396,
214
+ 79.95973841097089,
215
+ -23.540395617175967
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 3.141592653589793
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -177.7394130265396,
227
+ 79.95973841097089,
228
+ -23.540395617175967
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 3.141592653589793
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -180.7394130265396,
240
+ 79.95973841097089,
241
+ -23.540395617175967
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 3.141592653589793
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -183.7394130265396,
253
+ 79.95973841097089,
254
+ -23.540395617175967
255
+ ],
256
+ "type": "stop",
257
+ "value": 0,
258
+ "yaw": 3.141592653589793
259
+ }
260
+ }
261
+ {
262
+ "aim_landmark": {
263
+ "color": "test",
264
+ "feature": "test",
265
+ "position": [
266
+ -186.17330045700075,
267
+ 79.25256423950195,
268
+ 0.0
269
+ ],
270
+ "shape": "test",
271
+ "size": "test",
272
+ "type": "building"
273
+ }
274
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-2-5_1908518808/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 164.947691304282,
6
+ 437.22375915913733,
7
+ -20.634803655474382
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 166.447691304282,
19
+ 434.625682947784,
20
+ -20.634803655474382
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 167.947691304282,
32
+ 432.0276067364307,
33
+ -20.634803655474382
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 169.447691304282,
45
+ 429.4295305250774,
46
+ -20.634803655474382
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 170.947691304282,
58
+ 426.83145431372407,
59
+ -20.634803655474382
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 172.447691304282,
71
+ 424.23337810237075,
72
+ -20.634803655474382
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 173.947691304282,
84
+ 421.63530189101743,
85
+ -20.634803655474382
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 175.447691304282,
97
+ 419.0372256796641,
98
+ -20.634803655474382
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 176.947691304282,
110
+ 416.4391494683108,
111
+ -20.634803655474382
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 178.447691304282,
123
+ 413.8410732569575,
124
+ -20.634803655474382
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 179.947691304282,
136
+ 411.24299704560417,
137
+ -20.634803655474382
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 181.447691304282,
149
+ 408.64492083425085,
150
+ -20.634803655474382
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 182.947691304282,
162
+ 406.04684462289754,
163
+ -20.634803655474382
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 184.447691304282,
175
+ 403.4487684115442,
176
+ -20.634803655474382
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 185.947691304282,
188
+ 400.8506922001909,
189
+ -20.634803655474382
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 187.447691304282,
201
+ 398.2526159888376,
202
+ -20.634803655474382
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 188.947691304282,
214
+ 395.6545397774843,
215
+ -20.634803655474382
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 190.447691304282,
227
+ 393.05646356613096,
228
+ -20.634803655474382
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 191.947691304282,
240
+ 390.45838735477764,
241
+ -20.634803655474382
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 193.447691304282,
253
+ 387.8603111434243,
254
+ -20.634803655474382
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -1.0471975511965979
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 194.947691304282,
266
+ 385.262234932071,
267
+ -20.634803655474382
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -1.0471975511965979
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ 196.447691304282,
279
+ 382.6641587207177,
280
+ -20.634803655474382
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -1.0471975511965979
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ 197.947691304282,
292
+ 380.0660825093644,
293
+ -20.634803655474382
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": -1.0471975511965979
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ 196.98235359191895,
306
+ 377.73239974975587,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-23-40_847228023/pose.jsonl ADDED
@@ -0,0 +1,326 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -78.96059259132878,
6
+ 362.4292001925354,
7
+ -20.367556286378594
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -80.46059259132878,
19
+ 359.8311239811821,
20
+ -20.367556286378594
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -81.96059259132878,
32
+ 357.2330477698288,
33
+ -20.367556286378594
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -83.46059259132878,
45
+ 354.63497155847546,
46
+ -20.367556286378594
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -84.96059259132878,
58
+ 352.03689534712214,
59
+ -20.367556286378594
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -86.46059259132878,
71
+ 349.4388191357688,
72
+ -20.367556286378594
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -87.96059259132878,
84
+ 346.8407429244155,
85
+ -20.367556286378594
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -89.46059259132878,
97
+ 344.2426667130622,
98
+ -20.367556286378594
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -90.96059259132878,
110
+ 341.6445905017089,
111
+ -20.367556286378594
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -92.46059259132878,
123
+ 339.04651429035556,
124
+ -20.367556286378594
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -93.96059259132878,
136
+ 336.44843807900224,
137
+ -20.367556286378594
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -95.46059259132878,
149
+ 333.8503618676489,
150
+ -20.367556286378594
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -96.96059259132878,
162
+ 331.2522856562956,
163
+ -20.367556286378594
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -98.46059259132878,
175
+ 328.6542094449423,
176
+ -20.367556286378594
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -99.96059259132878,
188
+ 326.056133233589,
189
+ -20.367556286378594
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -101.46059259132878,
201
+ 323.45805702223566,
202
+ -20.367556286378594
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -102.96059259132878,
214
+ 320.85998081088235,
215
+ -20.367556286378594
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -104.46059259132878,
227
+ 318.26190459952903,
228
+ -20.367556286378594
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -105.96059259132878,
240
+ 315.6638283881757,
241
+ -20.367556286378594
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -107.46059259132878,
253
+ 313.0657521768224,
254
+ -20.367556286378594
255
+ ],
256
+ "type": "turn right",
257
+ "value": 30,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -107.46059259132878,
266
+ 313.0657521768224,
267
+ -20.367556286378594
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.617993877991494
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -110.05866880268209,
279
+ 311.5657521768224,
280
+ -20.367556286378594
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -112.65674501403541,
292
+ 310.0657521768224,
293
+ -20.367556286378594
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -115.25482122538872,
305
+ 308.5657521768224,
306
+ -20.367556286378594
307
+ ],
308
+ "type": "stop",
309
+ "value": 0,
310
+ "yaw": -2.6179938779914944
311
+ }
312
+ }
313
+ {
314
+ "aim_landmark": {
315
+ "color": "test",
316
+ "feature": "test",
317
+ "position": [
318
+ -115.87129821777344,
319
+ 305.9235919952393,
320
+ 0.0
321
+ ],
322
+ "shape": "test",
323
+ "size": "test",
324
+ "type": "building"
325
+ }
326
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-24-43_2002495425/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -256.50917836257753,
6
+ 356.05841634244547,
7
+ -21.72322254950942
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -258.00917836257753,
19
+ 353.46034013109215,
20
+ -21.72322254950942
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -259.50917836257753,
32
+ 350.86226391973884,
33
+ -21.72322254950942
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -261.00917836257753,
45
+ 348.2641877083855,
46
+ -21.72322254950942
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -262.50917836257753,
58
+ 345.6661114970322,
59
+ -21.72322254950942
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -264.00917836257753,
71
+ 343.0680352856789,
72
+ -21.72322254950942
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -265.50917836257753,
84
+ 340.4699590743256,
85
+ -21.72322254950942
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -267.00917836257753,
97
+ 337.87188286297226,
98
+ -21.72322254950942
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -268.50917836257753,
110
+ 335.27380665161894,
111
+ -21.72322254950942
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -270.00917836257753,
123
+ 332.6757304402656,
124
+ -21.72322254950942
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -271.50917836257753,
136
+ 330.0776542289123,
137
+ -21.72322254950942
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -273.00917836257753,
149
+ 327.479578017559,
150
+ -21.72322254950942
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -274.50917836257753,
162
+ 324.8815018062057,
163
+ -21.72322254950942
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -274.50917836257753,
175
+ 324.8815018062057,
176
+ -21.72322254950942
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.617993877991494
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -277.10725457393085,
188
+ 323.3815018062057,
189
+ -21.72322254950942
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -279.70533078528416,
201
+ 321.8815018062057,
202
+ -21.72322254950942
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -282.3034069966375,
214
+ 320.3815018062057,
215
+ -21.72322254950942
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -284.9014832079908,
227
+ 318.8815018062057,
228
+ -21.72322254950942
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -287.4995594193441,
240
+ 317.3815018062057,
241
+ -21.72322254950942
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.6179938779914944
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -290.0976356306974,
253
+ 315.8815018062057,
254
+ -21.72322254950942
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.6179938779914944
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -292.69571184205074,
266
+ 314.3815018062057,
267
+ -21.72322254950942
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.6179938779914944
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -295.29378805340406,
279
+ 312.8815018062057,
280
+ -21.72322254950942
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.6179938779914944
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -297.8918642647574,
292
+ 311.3815018062057,
293
+ -21.72322254950942
294
+ ],
295
+ "type": "turn left",
296
+ "value": 30,
297
+ "yaw": -2.6179938779914944
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -297.8918642647574,
305
+ 311.3815018062057,
306
+ -21.72322254950942
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931957
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -299.3918642647574,
318
+ 308.78342559485236,
319
+ -21.72322254950942
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": -2.0943951023931957
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -300.1048927307129,
332
+ 306.1219676971436,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-26-4_1186631626/pose.jsonl ADDED
@@ -0,0 +1,248 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 342.6854031810992,
6
+ 361.9145706462623,
7
+ -20.831573466235714
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 3.141592653589793
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 339.6854031810992,
19
+ 361.9145706462623,
20
+ -20.831573466235714
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 3.141592653589793
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 336.6854031810992,
32
+ 361.9145706462623,
33
+ -20.831573466235714
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 3.141592653589793
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 333.6854031810992,
45
+ 361.9145706462623,
46
+ -20.831573466235714
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 3.141592653589793
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 330.6854031810992,
58
+ 361.9145706462623,
59
+ -20.831573466235714
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 3.141592653589793
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 327.6854031810992,
71
+ 361.9145706462623,
72
+ -20.831573466235714
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 3.141592653589793
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 324.6854031810992,
84
+ 361.9145706462623,
85
+ -20.831573466235714
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 3.141592653589793
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 321.6854031810992,
97
+ 361.9145706462623,
98
+ -20.831573466235714
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 3.141592653589793
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 318.6854031810992,
110
+ 361.9145706462623,
111
+ -20.831573466235714
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 3.141592653589793
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 315.6854031810992,
123
+ 361.9145706462623,
124
+ -20.831573466235714
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 3.141592653589793
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 312.6854031810992,
136
+ 361.9145706462623,
137
+ -20.831573466235714
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 3.141592653589793
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 309.6854031810992,
149
+ 361.9145706462623,
150
+ -20.831573466235714
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 3.141592653589793
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 306.6854031810992,
162
+ 361.9145706462623,
163
+ -20.831573466235714
164
+ ],
165
+ "type": "turn right",
166
+ "value": 30,
167
+ "yaw": 3.141592653589793
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 306.6854031810992,
175
+ 361.9145706462623,
176
+ -20.831573466235714
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 304.0873269697459,
188
+ 363.4145706462623,
189
+ -20.831573466235714
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 301.4892507583926,
201
+ 364.9145706462623,
202
+ -20.831573466235714
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.6179938779914944
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 298.89117454703927,
214
+ 366.4145706462623,
215
+ -20.831573466235714
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.6179938779914944
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 296.29309833568595,
227
+ 367.9145706462623,
228
+ -20.831573466235714
229
+ ],
230
+ "type": "stop",
231
+ "value": 0,
232
+ "yaw": 2.6179938779914944
233
+ }
234
+ }
235
+ {
236
+ "aim_landmark": {
237
+ "color": "test",
238
+ "feature": "test",
239
+ "position": [
240
+ 293.0124032974243,
241
+ 367.8513872146607,
242
+ 0.0
243
+ ],
244
+ "shape": "test",
245
+ "size": "test",
246
+ "type": "building"
247
+ }
248
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-28-23_1265204346/pose.jsonl ADDED
@@ -0,0 +1,261 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 98.52054823417676,
6
+ -80.20311665895802,
7
+ -21.294196212284135
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.5707963267948966
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 98.52054823417676,
19
+ -83.20311665895802,
20
+ -21.294196212284135
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.5707963267948966
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 98.52054823417676,
32
+ -86.20311665895802,
33
+ -21.294196212284135
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.5707963267948966
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 98.52054823417676,
45
+ -89.20311665895802,
46
+ -21.294196212284135
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.5707963267948966
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 98.52054823417676,
58
+ -92.20311665895802,
59
+ -21.294196212284135
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.5707963267948966
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 98.52054823417676,
71
+ -95.20311665895802,
72
+ -21.294196212284135
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.5707963267948966
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 98.52054823417676,
84
+ -98.20311665895802,
85
+ -21.294196212284135
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.5707963267948966
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 98.52054823417676,
97
+ -101.20311665895802,
98
+ -21.294196212284135
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.5707963267948966
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 98.52054823417676,
110
+ -104.20311665895802,
111
+ -21.294196212284135
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.5707963267948966
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 98.52054823417676,
123
+ -107.20311665895802,
124
+ -21.294196212284135
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.5707963267948966
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 98.52054823417676,
136
+ -110.20311665895802,
137
+ -21.294196212284135
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.5707963267948966
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 98.52054823417676,
149
+ -113.20311665895802,
150
+ -21.294196212284135
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.5707963267948966
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 98.52054823417676,
162
+ -116.20311665895802,
163
+ -21.294196212284135
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.5707963267948966
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 98.52054823417676,
175
+ -119.20311665895802,
176
+ -21.294196212284135
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.5707963267948966
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 98.52054823417676,
188
+ -122.20311665895802,
189
+ -21.294196212284135
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": -1.5707963267948966
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 98.52054823417676,
201
+ -122.20311665895802,
202
+ -21.294196212284135
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -1.0471975511965979
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 100.02054823417676,
214
+ -124.80119287031134,
215
+ -21.294196212284135
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -1.0471975511965979
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 101.52054823417676,
227
+ -127.39926908166466,
228
+ -21.294196212284135
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -1.0471975511965979
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 103.02054823417676,
240
+ -129.997345293018,
241
+ -21.294196212284135
242
+ ],
243
+ "type": "stop",
244
+ "value": 0,
245
+ "yaw": -1.0471975511965979
246
+ }
247
+ }
248
+ {
249
+ "aim_landmark": {
250
+ "color": "test",
251
+ "feature": "test",
252
+ "position": [
253
+ 102.75733251571656,
254
+ -133.33713722229004,
255
+ 0.0
256
+ ],
257
+ "shape": "test",
258
+ "size": "test",
259
+ "type": "building"
260
+ }
261
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-28-35_1369602726/pose.jsonl ADDED
@@ -0,0 +1,339 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -125.65140888174156,
6
+ 176.13903620756358,
7
+ -21.184512045179034
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -124.15140888174156,
19
+ 178.7371124189169,
20
+ -21.184512045179034
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -122.65140888174156,
32
+ 181.3351886302702,
33
+ -21.184512045179034
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -121.15140888174156,
45
+ 183.93326484162353,
46
+ -21.184512045179034
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -119.65140888174156,
58
+ 186.53134105297684,
59
+ -21.184512045179034
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -118.15140888174156,
71
+ 189.12941726433016,
72
+ -21.184512045179034
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -116.65140888174156,
84
+ 191.72749347568347,
85
+ -21.184512045179034
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -115.15140888174156,
97
+ 194.3255696870368,
98
+ -21.184512045179034
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -113.65140888174156,
110
+ 196.9236458983901,
111
+ -21.184512045179034
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -112.15140888174156,
123
+ 199.52172210974342,
124
+ -21.184512045179034
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -110.65140888174156,
136
+ 202.11979832109674,
137
+ -21.184512045179034
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -109.15140888174156,
149
+ 204.71787453245005,
150
+ -21.184512045179034
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -107.65140888174156,
162
+ 207.31595074380337,
163
+ -21.184512045179034
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -106.15140888174156,
175
+ 209.9140269551567,
176
+ -21.184512045179034
177
+ ],
178
+ "type": "turn right",
179
+ "value": 30,
180
+ "yaw": 1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -106.15140888174156,
188
+ 209.9140269551567,
189
+ -21.184512045179034
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 0.523598775598299
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -103.55333267038824,
201
+ 211.4140269551567,
202
+ -21.184512045179034
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 0.5235987755982988
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -100.95525645903493,
214
+ 212.9140269551567,
215
+ -21.184512045179034
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -98.35718024768161,
227
+ 214.4140269551567,
228
+ -21.184512045179034
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -95.7591040363283,
240
+ 215.9140269551567,
241
+ -21.184512045179034
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -93.16102782497498,
253
+ 217.4140269551567,
254
+ -21.184512045179034
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -90.56295161362166,
266
+ 218.9140269551567,
267
+ -21.184512045179034
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -87.96487540226835,
279
+ 220.4140269551567,
280
+ -21.184512045179034
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 0.5235987755982988
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -85.36679919091503,
292
+ 221.9140269551567,
293
+ -21.184512045179034
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": 0.5235987755982988
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -82.76872297956172,
305
+ 223.4140269551567,
306
+ -21.184512045179034
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": 0.5235987755982988
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -80.1706467682084,
318
+ 224.9140269551567,
319
+ -21.184512045179034
320
+ ],
321
+ "type": "stop",
322
+ "value": 0,
323
+ "yaw": 0.5235987755982988
324
+ }
325
+ }
326
+ {
327
+ "aim_landmark": {
328
+ "color": "test",
329
+ "feature": "test",
330
+ "position": [
331
+ -78.11547446250916,
332
+ 225.18597507476807,
333
+ 0.0
334
+ ],
335
+ "shape": "test",
336
+ "size": "test",
337
+ "type": "building"
338
+ }
339
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-29-43_1297893529/pose.jsonl ADDED
@@ -0,0 +1,287 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ 161.3985309805128,
6
+ 421.7370746131936,
7
+ -23.264859020372153
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -1.0471975511965979
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ 162.8985309805128,
19
+ 419.1389984018403,
20
+ -23.264859020372153
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -1.0471975511965979
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ 164.3985309805128,
32
+ 416.540922190487,
33
+ -23.264859020372153
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -1.0471975511965979
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ 165.8985309805128,
45
+ 413.94284597913366,
46
+ -23.264859020372153
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -1.0471975511965979
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ 167.3985309805128,
58
+ 411.34476976778035,
59
+ -23.264859020372153
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -1.0471975511965979
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ 168.8985309805128,
71
+ 408.74669355642703,
72
+ -23.264859020372153
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -1.0471975511965979
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ 170.3985309805128,
84
+ 406.1486173450737,
85
+ -23.264859020372153
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -1.0471975511965979
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ 171.8985309805128,
97
+ 403.5505411337204,
98
+ -23.264859020372153
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -1.0471975511965979
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ 173.3985309805128,
110
+ 400.9524649223671,
111
+ -23.264859020372153
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -1.0471975511965979
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ 174.8985309805128,
123
+ 398.35438871101377,
124
+ -23.264859020372153
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -1.0471975511965979
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ 176.3985309805128,
136
+ 395.75631249966045,
137
+ -23.264859020372153
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -1.0471975511965979
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ 177.8985309805128,
149
+ 393.15823628830714,
150
+ -23.264859020372153
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -1.0471975511965979
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ 179.3985309805128,
162
+ 390.5601600769538,
163
+ -23.264859020372153
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -1.0471975511965979
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ 180.8985309805128,
175
+ 387.9620838656005,
176
+ -23.264859020372153
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -1.0471975511965979
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ 182.3985309805128,
188
+ 385.3640076542472,
189
+ -23.264859020372153
190
+ ],
191
+ "type": "turn left",
192
+ "value": 30,
193
+ "yaw": -1.0471975511965979
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ 182.3985309805128,
201
+ 385.3640076542472,
202
+ -23.264859020372153
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -0.523598775598299
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ 184.9966071918661,
214
+ 383.8640076542472,
215
+ -23.264859020372153
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -0.5235987755982988
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ 187.59468340321942,
227
+ 382.3640076542472,
228
+ -23.264859020372153
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -0.5235987755982988
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ 190.19275961457274,
240
+ 380.8640076542472,
241
+ -23.264859020372153
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -0.5235987755982988
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ 192.79083582592605,
253
+ 379.3640076542472,
254
+ -23.264859020372153
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -0.5235987755982988
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ 195.38891203727937,
266
+ 377.8640076542472,
267
+ -23.264859020372153
268
+ ],
269
+ "type": "stop",
270
+ "value": 0,
271
+ "yaw": -0.5235987755982988
272
+ }
273
+ }
274
+ {
275
+ "aim_landmark": {
276
+ "color": "test",
277
+ "feature": "test",
278
+ "position": [
279
+ 196.98235359191895,
280
+ 377.73239974975587,
281
+ 0.0
282
+ ],
283
+ "shape": "test",
284
+ "size": "test",
285
+ "type": "building"
286
+ }
287
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-29-55_1010528946/pose.jsonl ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -93.00642883449933,
6
+ 217.52244155945692,
7
+ -21.336649971126917
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": -2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -94.50642883449933,
19
+ 214.9243653481036,
20
+ -21.336649971126917
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": -2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -96.00642883449933,
32
+ 212.3262891367503,
33
+ -21.336649971126917
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": -2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -97.50642883449933,
45
+ 209.72821292539697,
46
+ -21.336649971126917
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": -2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -99.00642883449933,
58
+ 207.13013671404366,
59
+ -21.336649971126917
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": -2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -100.50642883449933,
71
+ 204.53206050269034,
72
+ -21.336649971126917
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": -2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -102.00642883449933,
84
+ 201.93398429133703,
85
+ -21.336649971126917
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": -2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -103.50642883449933,
97
+ 199.3359080799837,
98
+ -21.336649971126917
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": -2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -105.00642883449933,
110
+ 196.7378318686304,
111
+ -21.336649971126917
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": -2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -106.50642883449933,
123
+ 194.13975565727708,
124
+ -21.336649971126917
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": -2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -108.00642883449933,
136
+ 191.54167944592376,
137
+ -21.336649971126917
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": -2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -109.50642883449933,
149
+ 188.94360323457045,
150
+ -21.336649971126917
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": -2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -111.00642883449933,
162
+ 186.34552702321713,
163
+ -21.336649971126917
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": -2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -112.50642883449933,
175
+ 183.7474508118638,
176
+ -21.336649971126917
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": -2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -114.00642883449933,
188
+ 181.1493746005105,
189
+ -21.336649971126917
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": -2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -115.50642883449933,
201
+ 178.55129838915718,
202
+ -21.336649971126917
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": -2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -117.00642883449933,
214
+ 175.95322217780387,
215
+ -21.336649971126917
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": -2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -118.50642883449933,
227
+ 173.35514596645055,
228
+ -21.336649971126917
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": -2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -120.00642883449933,
240
+ 170.75706975509723,
241
+ -21.336649971126917
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": -2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -121.50642883449933,
253
+ 168.15899354374392,
254
+ -21.336649971126917
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": -2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -123.00642883449933,
266
+ 165.5609173323906,
267
+ -21.336649971126917
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": -2.0943951023931953
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -124.50642883449933,
279
+ 162.9628411210373,
280
+ -21.336649971126917
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": -2.0943951023931953
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -126.00642883449933,
292
+ 160.36476490968397,
293
+ -21.336649971126917
294
+ ],
295
+ "type": "go straight",
296
+ "value": 3,
297
+ "yaw": -2.0943951023931953
298
+ }
299
+ }
300
+ {
301
+ "action": {
302
+ "imageid": 23,
303
+ "pos": [
304
+ -127.50642883449933,
305
+ 157.76668869833065,
306
+ -21.336649971126917
307
+ ],
308
+ "type": "go straight",
309
+ "value": 3,
310
+ "yaw": -2.0943951023931953
311
+ }
312
+ }
313
+ {
314
+ "action": {
315
+ "imageid": 24,
316
+ "pos": [
317
+ -129.00642883449933,
318
+ 155.16861248697734,
319
+ -21.336649971126917
320
+ ],
321
+ "type": "go straight",
322
+ "value": 3,
323
+ "yaw": -2.0943951023931953
324
+ }
325
+ }
326
+ {
327
+ "action": {
328
+ "imageid": 25,
329
+ "pos": [
330
+ -130.50642883449933,
331
+ 152.57053627562402,
332
+ -21.336649971126917
333
+ ],
334
+ "type": "turn left",
335
+ "value": 30,
336
+ "yaw": -2.0943951023931953
337
+ }
338
+ }
339
+ {
340
+ "action": {
341
+ "imageid": 26,
342
+ "pos": [
343
+ -130.50642883449933,
344
+ 152.57053627562402,
345
+ -21.336649971126917
346
+ ],
347
+ "type": "go straight",
348
+ "value": 3,
349
+ "yaw": -1.5707963267948966
350
+ }
351
+ }
352
+ {
353
+ "action": {
354
+ "imageid": 27,
355
+ "pos": [
356
+ -130.50642883449933,
357
+ 149.57053627562402,
358
+ -21.336649971126917
359
+ ],
360
+ "type": "stop",
361
+ "value": 0,
362
+ "yaw": -1.5707963267948966
363
+ }
364
+ }
365
+ {
366
+ "aim_landmark": {
367
+ "color": "test",
368
+ "feature": "test",
369
+ "position": [
370
+ -130.05646734237672,
371
+ 147.10406847000124,
372
+ 0.0
373
+ ],
374
+ "shape": "test",
375
+ "size": "test",
376
+ "type": "building"
377
+ }
378
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-32-39_1243439214/pose.jsonl ADDED
@@ -0,0 +1,300 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -334.28318431864363,
6
+ 223.87526115999637,
7
+ -15.783237231673226
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.6179938779914944
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -336.88126052999695,
19
+ 225.37526115999637,
20
+ -15.783237231673226
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.6179938779914944
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -339.47933674135027,
32
+ 226.87526115999637,
33
+ -15.783237231673226
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.6179938779914944
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -342.0774129527036,
45
+ 228.37526115999637,
46
+ -15.783237231673226
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.6179938779914944
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -344.6754891640569,
58
+ 229.87526115999637,
59
+ -15.783237231673226
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.6179938779914944
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -347.2735653754102,
71
+ 231.37526115999637,
72
+ -15.783237231673226
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.6179938779914944
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -349.87164158676353,
84
+ 232.87526115999637,
85
+ -15.783237231673226
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.6179938779914944
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -352.46971779811685,
97
+ 234.37526115999637,
98
+ -15.783237231673226
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.6179938779914944
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -355.06779400947016,
110
+ 235.87526115999637,
111
+ -15.783237231673226
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.6179938779914944
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -357.6658702208235,
123
+ 237.37526115999637,
124
+ -15.783237231673226
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.6179938779914944
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -360.2639464321768,
136
+ 238.87526115999637,
137
+ -15.783237231673226
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.6179938779914944
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -362.8620226435301,
149
+ 240.37526115999637,
150
+ -15.783237231673226
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.6179938779914944
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -365.4600988548834,
162
+ 241.87526115999637,
163
+ -15.783237231673226
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.6179938779914944
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -368.05817506623674,
175
+ 243.37526115999637,
176
+ -15.783237231673226
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.6179938779914944
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -370.65625127759006,
188
+ 244.87526115999637,
189
+ -15.783237231673226
190
+ ],
191
+ "type": "turn right",
192
+ "value": 30,
193
+ "yaw": 2.6179938779914944
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -370.65625127759006,
201
+ 244.87526115999637,
202
+ -15.783237231673226
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931957
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -372.15625127759006,
214
+ 247.4733373713497,
215
+ -15.783237231673226
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -373.65625127759006,
227
+ 250.071413582703,
228
+ -15.783237231673226
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -375.15625127759006,
240
+ 252.66948979405632,
241
+ -15.783237231673226
242
+ ],
243
+ "type": "go straight",
244
+ "value": 3,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -376.65625127759006,
253
+ 255.26756600540963,
254
+ -15.783237231673226
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 2.0943951023931953
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -378.15625127759006,
266
+ 257.8656422167629,
267
+ -15.783237231673226
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 2.0943951023932
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -379.65625127759006,
279
+ 260.46371842811624,
280
+ -15.783237231673226
281
+ ],
282
+ "type": "stop",
283
+ "value": 0,
284
+ "yaw": 2.0943951023932
285
+ }
286
+ }
287
+ {
288
+ "aim_landmark": {
289
+ "color": "test",
290
+ "feature": "test",
291
+ "position": [
292
+ -382.8172357559204,
293
+ 262.51546230316166,
294
+ 0.0
295
+ ],
296
+ "shape": "test",
297
+ "size": "test",
298
+ "type": "building"
299
+ }
300
+ }
Image/env_gs_nwpu01/astar_data/short/2025-1-14_19-32-52_70788355/pose.jsonl ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "imageid": 0,
4
+ "pos": [
5
+ -88.75688195082847,
6
+ 248.76905609561862,
7
+ -15.640534667772931
8
+ ],
9
+ "type": "go straight",
10
+ "value": 3,
11
+ "yaw": 2.0943951023931953
12
+ }
13
+ }
14
+ {
15
+ "action": {
16
+ "imageid": 1,
17
+ "pos": [
18
+ -90.25688195082847,
19
+ 251.36713230697194,
20
+ -15.640534667772931
21
+ ],
22
+ "type": "go straight",
23
+ "value": 3,
24
+ "yaw": 2.0943951023931953
25
+ }
26
+ }
27
+ {
28
+ "action": {
29
+ "imageid": 2,
30
+ "pos": [
31
+ -91.75688195082847,
32
+ 253.96520851832526,
33
+ -15.640534667772931
34
+ ],
35
+ "type": "go straight",
36
+ "value": 3,
37
+ "yaw": 2.0943951023931953
38
+ }
39
+ }
40
+ {
41
+ "action": {
42
+ "imageid": 3,
43
+ "pos": [
44
+ -93.25688195082847,
45
+ 256.56328472967857,
46
+ -15.640534667772931
47
+ ],
48
+ "type": "go straight",
49
+ "value": 3,
50
+ "yaw": 2.0943951023931953
51
+ }
52
+ }
53
+ {
54
+ "action": {
55
+ "imageid": 4,
56
+ "pos": [
57
+ -94.75688195082847,
58
+ 259.1613609410319,
59
+ -15.640534667772931
60
+ ],
61
+ "type": "go straight",
62
+ "value": 3,
63
+ "yaw": 2.0943951023931953
64
+ }
65
+ }
66
+ {
67
+ "action": {
68
+ "imageid": 5,
69
+ "pos": [
70
+ -96.25688195082847,
71
+ 261.7594371523852,
72
+ -15.640534667772931
73
+ ],
74
+ "type": "go straight",
75
+ "value": 3,
76
+ "yaw": 2.0943951023931953
77
+ }
78
+ }
79
+ {
80
+ "action": {
81
+ "imageid": 6,
82
+ "pos": [
83
+ -97.75688195082847,
84
+ 264.3575133637385,
85
+ -15.640534667772931
86
+ ],
87
+ "type": "go straight",
88
+ "value": 3,
89
+ "yaw": 2.0943951023931953
90
+ }
91
+ }
92
+ {
93
+ "action": {
94
+ "imageid": 7,
95
+ "pos": [
96
+ -99.25688195082847,
97
+ 266.95558957509184,
98
+ -15.640534667772931
99
+ ],
100
+ "type": "go straight",
101
+ "value": 3,
102
+ "yaw": 2.0943951023931953
103
+ }
104
+ }
105
+ {
106
+ "action": {
107
+ "imageid": 8,
108
+ "pos": [
109
+ -100.75688195082847,
110
+ 269.55366578644515,
111
+ -15.640534667772931
112
+ ],
113
+ "type": "go straight",
114
+ "value": 3,
115
+ "yaw": 2.0943951023931953
116
+ }
117
+ }
118
+ {
119
+ "action": {
120
+ "imageid": 9,
121
+ "pos": [
122
+ -102.25688195082847,
123
+ 272.15174199779847,
124
+ -15.640534667772931
125
+ ],
126
+ "type": "go straight",
127
+ "value": 3,
128
+ "yaw": 2.0943951023931953
129
+ }
130
+ }
131
+ {
132
+ "action": {
133
+ "imageid": 10,
134
+ "pos": [
135
+ -103.75688195082847,
136
+ 274.7498182091518,
137
+ -15.640534667772931
138
+ ],
139
+ "type": "go straight",
140
+ "value": 3,
141
+ "yaw": 2.0943951023931953
142
+ }
143
+ }
144
+ {
145
+ "action": {
146
+ "imageid": 11,
147
+ "pos": [
148
+ -105.25688195082847,
149
+ 277.3478944205051,
150
+ -15.640534667772931
151
+ ],
152
+ "type": "go straight",
153
+ "value": 3,
154
+ "yaw": 2.0943951023931953
155
+ }
156
+ }
157
+ {
158
+ "action": {
159
+ "imageid": 12,
160
+ "pos": [
161
+ -106.75688195082847,
162
+ 279.9459706318584,
163
+ -15.640534667772931
164
+ ],
165
+ "type": "go straight",
166
+ "value": 3,
167
+ "yaw": 2.0943951023931953
168
+ }
169
+ }
170
+ {
171
+ "action": {
172
+ "imageid": 13,
173
+ "pos": [
174
+ -108.25688195082847,
175
+ 282.54404684321173,
176
+ -15.640534667772931
177
+ ],
178
+ "type": "go straight",
179
+ "value": 3,
180
+ "yaw": 2.0943951023931953
181
+ }
182
+ }
183
+ {
184
+ "action": {
185
+ "imageid": 14,
186
+ "pos": [
187
+ -109.75688195082847,
188
+ 285.14212305456505,
189
+ -15.640534667772931
190
+ ],
191
+ "type": "go straight",
192
+ "value": 3,
193
+ "yaw": 2.0943951023931953
194
+ }
195
+ }
196
+ {
197
+ "action": {
198
+ "imageid": 15,
199
+ "pos": [
200
+ -111.25688195082847,
201
+ 287.74019926591836,
202
+ -15.640534667772931
203
+ ],
204
+ "type": "go straight",
205
+ "value": 3,
206
+ "yaw": 2.0943951023931953
207
+ }
208
+ }
209
+ {
210
+ "action": {
211
+ "imageid": 16,
212
+ "pos": [
213
+ -112.75688195082847,
214
+ 290.3382754772717,
215
+ -15.640534667772931
216
+ ],
217
+ "type": "go straight",
218
+ "value": 3,
219
+ "yaw": 2.0943951023931953
220
+ }
221
+ }
222
+ {
223
+ "action": {
224
+ "imageid": 17,
225
+ "pos": [
226
+ -114.25688195082847,
227
+ 292.936351688625,
228
+ -15.640534667772931
229
+ ],
230
+ "type": "go straight",
231
+ "value": 3,
232
+ "yaw": 2.0943951023931953
233
+ }
234
+ }
235
+ {
236
+ "action": {
237
+ "imageid": 18,
238
+ "pos": [
239
+ -115.75688195082847,
240
+ 295.5344278999783,
241
+ -15.640534667772931
242
+ ],
243
+ "type": "turn right",
244
+ "value": 30,
245
+ "yaw": 2.0943951023931953
246
+ }
247
+ }
248
+ {
249
+ "action": {
250
+ "imageid": 19,
251
+ "pos": [
252
+ -115.75688195082847,
253
+ 295.5344278999783,
254
+ -15.640534667772931
255
+ ],
256
+ "type": "go straight",
257
+ "value": 3,
258
+ "yaw": 1.5707963267948966
259
+ }
260
+ }
261
+ {
262
+ "action": {
263
+ "imageid": 20,
264
+ "pos": [
265
+ -115.75688195082847,
266
+ 298.5344278999783,
267
+ -15.640534667772931
268
+ ],
269
+ "type": "go straight",
270
+ "value": 3,
271
+ "yaw": 1.5707963267948966
272
+ }
273
+ }
274
+ {
275
+ "action": {
276
+ "imageid": 21,
277
+ "pos": [
278
+ -115.75688195082847,
279
+ 301.5344278999783,
280
+ -15.640534667772931
281
+ ],
282
+ "type": "go straight",
283
+ "value": 3,
284
+ "yaw": 1.5707963267948966
285
+ }
286
+ }
287
+ {
288
+ "action": {
289
+ "imageid": 22,
290
+ "pos": [
291
+ -115.75688195082847,
292
+ 304.5344278999783,
293
+ -15.640534667772931
294
+ ],
295
+ "type": "stop",
296
+ "value": 0,
297
+ "yaw": 1.5707963267948966
298
+ }
299
+ }
300
+ {
301
+ "aim_landmark": {
302
+ "color": "test",
303
+ "feature": "test",
304
+ "position": [
305
+ -115.87129821777344,
306
+ 305.9235919952393,
307
+ 0.0
308
+ ],
309
+ "shape": "test",
310
+ "size": "test",
311
+ "type": "building"
312
+ }
313
+ }