diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-27-01_691052/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-27-01_691052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f3aae37fbe1ea9039d3bfedbcc60c800431970e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-27-01_691052/pose.jsonl @@ -0,0 +1,679 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -45.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -42.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -39.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -36.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -33.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -30.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -27.94555044515363, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.23869596225512, + 393.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -223.23869596225512, + 396.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -223.23869596225512, + 399.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.23869596225512, + 402.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -223.23869596225512, + 405.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -223.23869596225512, + 408.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.23869596225512, + 411.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -223.23869596225512, + 414.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -223.23869596225512, + 417.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -223.23869596225512, + 420.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -223.23869596225512, + 423.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.23869596225512, + 426.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -223.23869596225512, + 429.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -223.23869596225512, + 432.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -223.23869596225512, + 435.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -223.23869596225512, + 438.8740902016872, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -223.23869596225512, + 441.8740902016872, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -223.23869596225512, + 441.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -223.23869596225512, + 444.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -223.23869596225512, + 447.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -223.23869596225512, + 450.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -223.23869596225512, + 453.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -223.23869596225512, + 456.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -223.23869596225512, + 459.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -223.23869596225512, + 462.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -223.23869596225512, + 465.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -223.23869596225512, + 468.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -223.23869596225512, + 471.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -223.23869596225512, + 474.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -223.23869596225512, + 477.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -223.23869596225512, + 480.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -223.23869596225512, + 483.8740902016872, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -223.23869596225512, + 483.8740902016872, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -224.73869596225512, + 486.4721664130405, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -27.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -30.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -33.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -36.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -39.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -42.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -226.23869596225512, + 489.0702426243938, + -45.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + 516.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-31-15_369338/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-31-15_369338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36bf76976ffa0296373509ccddcad9919c895487 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-31-15_369338/pose.jsonl @@ -0,0 +1,801 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1709.468524183908, + 82.2008583465454, + -45.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1709.468524183908, + 82.2008583465454, + -42.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1709.468524183908, + 82.2008583465454, + -39.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1709.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1706.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1703.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1700.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1697.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1694.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1691.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1688.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1685.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1682.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1679.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1676.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1673.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1670.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1667.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1664.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1661.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1658.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1655.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1652.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1649.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1646.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1643.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1640.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1637.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1634.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -27.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -24.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -21.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1631.468524183908, + 82.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1628.8704479725545, + 80.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1626.2723717612012, + 79.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1623.6742955498478, + 77.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1621.0762193384944, + 76.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1618.478143127141, + 74.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1615.8800669157877, + 73.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1613.2819907044343, + 71.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1610.683914493081, + 70.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1608.0858382817275, + 68.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1605.4877620703742, + 67.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1602.8896858590208, + 65.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1600.2916096476674, + 64.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1597.693533436314, + 62.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1595.0954572249607, + 61.2008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1592.4973810136073, + 59.7008583465454, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -21.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -24.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -39.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -42.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1589.899304802254, + 58.2008583465454, + -45.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + 52.0, + -29.3652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-35-32_80580/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-35-32_80580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc7cf0333b3b8552115e91610149857bd0743dfd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-35-32_80580/pose.jsonl @@ -0,0 +1,619 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -45.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -42.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -39.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -27.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -24.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -21.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -21.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -21.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 886.2585517964444, + 962.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 886.2585517964444, + 965.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 886.2585517964444, + 968.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 886.2585517964444, + 971.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 886.2585517964444, + 974.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 886.2585517964444, + 977.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 886.2585517964444, + 980.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 886.2585517964444, + 983.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 886.2585517964444, + 986.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 886.2585517964444, + 989.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 886.2585517964444, + 992.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 886.2585517964444, + 995.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.2585517964444, + 998.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 886.2585517964444, + 1001.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 886.2585517964444, + 1004.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 886.2585517964444, + 1007.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 886.2585517964444, + 1010.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 886.2585517964444, + 1013.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 886.2585517964444, + 1016.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 886.2585517964444, + 1019.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 886.2585517964444, + 1022.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 886.2585517964444, + 1025.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 886.2585517964444, + 1028.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 886.2585517964444, + 1031.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 886.2585517964444, + 1034.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 886.2585517964444, + 1037.4793946732739, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -21.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -24.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -39.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -42.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 886.2585517964444, + 1040.4793946732739, + -45.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1068.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-41-10_168701/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-41-10_168701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa6ead3dbf47021e0564f362302cbc1d1f321f56 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-41-10_168701/pose.jsonl @@ -0,0 +1,775 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1134.671108228244, + -152.69160789545737, + -45.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1134.671108228244, + -152.69160789545737, + -42.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1134.671108228244, + -152.69160789545737, + -39.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1134.671108228244, + -152.69160789545737, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -27.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -24.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1133.171108228244, + -155.28968410681068, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1131.671108228244, + -157.887760318164, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1130.171108228244, + -160.48583652951731, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1128.671108228244, + -163.08391274087063, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1127.171108228244, + -165.68198895222395, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1125.671108228244, + -168.28006516357726, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1124.171108228244, + -170.87814137493058, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1122.671108228244, + -173.4762175862839, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1121.171108228244, + -176.0742937976372, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1119.671108228244, + -178.67237000899053, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1118.171108228244, + -181.27044622034384, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1116.671108228244, + -183.86852243169716, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1115.171108228244, + -186.46659864305047, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1113.671108228244, + -189.0646748544038, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1112.171108228244, + -191.6627510657571, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1110.671108228244, + -194.26082727711042, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1109.171108228244, + -196.85890348846374, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1107.671108228244, + -199.45697969981705, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1106.171108228244, + -202.05505591117037, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1104.671108228244, + -204.6531321225237, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1103.171108228244, + -207.251208333877, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1101.671108228244, + -209.84928454523032, + -21.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1101.671108228244, + -209.84928454523032, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1100.171108228244, + -212.44736075658363, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1098.671108228244, + -215.04543696793695, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1097.171108228244, + -217.64351317929027, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1095.671108228244, + -220.24158939064358, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1094.171108228244, + -222.8396656019969, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1092.671108228244, + -225.43774181335021, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1091.171108228244, + -228.03581802470353, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1089.671108228244, + -230.63389423605685, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1088.171108228244, + -233.23197044741016, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1086.671108228244, + -235.83004665876348, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1085.171108228244, + -238.4281228701168, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1083.671108228244, + -241.0261990814701, + -18.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1082.171108228244, + -243.62427529282343, + -18.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1082.171108228244, + -243.62427529282343, + -21.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1082.171108228244, + -243.62427529282343, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1082.171108228244, + -246.62427529282343, + -21.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -21.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -24.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1082.171108228244, + -249.62427529282343, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1082.171108228244, + -252.62427529282343, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1082.171108228244, + -252.62427529282343, + -39.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1082.171108228244, + -252.62427529282343, + -42.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1082.171108228244, + -252.62427529282343, + -45.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1072.0, + -272.0, + -29.4917 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-42-34_995008/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-42-34_995008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7a94f51439ee8a610e3c8676d1efb267e672f7c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-42-34_995008/pose.jsonl @@ -0,0 +1,724 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 16.681804648135888, + -297.7969622261557, + -45.018700075641036, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 16.681804648135888, + -297.7969622261557, + -42.018700075641036, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 16.681804648135888, + -297.7969622261557, + -39.018700075641036, + 1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 16.681804648135888, + -297.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 16.681804648135888, + -294.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 16.681804648135888, + -291.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 16.681804648135888, + -288.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 16.681804648135888, + -285.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 16.681804648135888, + -282.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 16.681804648135888, + -279.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 16.681804648135888, + -276.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.681804648135888, + -273.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 16.681804648135888, + -270.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 16.681804648135888, + -267.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.681804648135888, + -264.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.681804648135888, + -261.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.681804648135888, + -258.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 16.681804648135888, + -255.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 16.681804648135888, + -252.7969622261557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 16.681804648135888, + -249.7969622261557, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 16.681804648135888, + -249.7969622261557, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.681804648135888, + -249.7969622261557, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 16.681804648135888, + -249.7969622261557, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 16.681804648135888, + -249.7969622261557, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 18.181804648135888, + -247.19888601480238, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 19.681804648135888, + -244.60080980344907, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 21.181804648135888, + -242.00273359209575, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 22.681804648135888, + -239.40465738074244, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 24.181804648135888, + -236.80658116938912, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 25.681804648135888, + -234.2085049580358, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 27.181804648135888, + -231.6104287466825, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.681804648135888, + -229.01235253532917, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 30.181804648135888, + -226.41427632397586, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 31.681804648135888, + -223.81620011262254, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 33.18180464813589, + -221.21812390126922, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 34.68180464813589, + -218.6200476899159, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 36.18180464813589, + -216.0219714785626, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 37.68180464813589, + -213.42389526720928, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 39.18180464813589, + -210.82581905585596, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.18180464813589, + -210.82581905585596, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 39.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 45.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 45.18180464813589, + -207.82581905585596, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 47.779880859489204, + -206.32581905585596, + -33.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 47.779880859489204, + -206.32581905585596, + -36.018700075641036, + 0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 47.779880859489204, + -206.32581905585596, + -39.018700075641036, + 0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 47.779880859489204, + -206.32581905585596, + -42.018700075641036, + 0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 47.779880859489204, + -206.32581905585596, + -45.018700075641036, + 0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.0, + -184.0, + -30.1347 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-49-12_35449/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-49-12_35449/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e06e24111183b82113d7114a15e5f466bcbbcaa0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-49-12_35449/pose.jsonl @@ -0,0 +1,745 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -45.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -42.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -39.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -36.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -33.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -30.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -27.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 729.6713973051825, + 194.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 729.6713973051825, + 191.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 729.6713973051825, + 188.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 729.6713973051825, + 185.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 729.6713973051825, + 182.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 729.6713973051825, + 179.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 729.6713973051825, + 176.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 729.6713973051825, + 173.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 729.6713973051825, + 170.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 729.6713973051825, + 167.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 729.6713973051825, + 164.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 729.6713973051825, + 161.91807553098744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 729.6713973051825, + 158.91807553098744, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 729.6713973051825, + 158.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 729.6713973051825, + 155.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 729.6713973051825, + 152.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 729.6713973051825, + 149.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 729.6713973051825, + 146.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 729.6713973051825, + 143.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 729.6713973051825, + 140.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 729.6713973051825, + 137.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 729.6713973051825, + 134.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 729.6713973051825, + 131.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 729.6713973051825, + 128.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 729.6713973051825, + 125.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 729.6713973051825, + 122.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 729.6713973051825, + 119.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 729.6713973051825, + 116.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 729.6713973051825, + 113.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 729.6713973051825, + 110.91807553098744, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 729.6713973051825, + 110.91807553098744, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 731.1713973051825, + 108.31999931963412, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 732.6713973051825, + 105.7219231082808, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 734.1713973051825, + 103.12384689692749, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 735.6713973051825, + 100.52577068557417, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 737.1713973051825, + 97.92769447422086, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 738.6713973051825, + 95.32961826286754, + -21.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 738.6713973051825, + 95.32961826286754, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 738.6713973051825, + 92.32961826286754, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -21.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -24.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -27.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -30.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -33.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -36.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -39.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -42.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 738.6713973051825, + 89.32961826286754, + -45.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f79b1755fdf5585b2beffd2d708d07b7da5158d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/pose.jsonl @@ -0,0 +1,645 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 652.7287782945738, + 143.60346222702736, + -45.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 652.7287782945738, + 143.60346222702736, + -42.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 652.7287782945738, + 143.60346222702736, + -39.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 652.7287782945738, + 143.60346222702736, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 654.2287782945738, + 141.00538601567405, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 655.7287782945738, + 138.40730980432073, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 657.2287782945738, + 135.80923359296742, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 658.7287782945738, + 133.2111573816141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 660.2287782945738, + 130.61308117026078, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 661.7287782945738, + 128.01500495890747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 663.2287782945738, + 125.41692874755415, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 664.7287782945738, + 122.81885253620084, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 666.2287782945738, + 120.22077632484752, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 667.7287782945738, + 117.6227001134942, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 669.2287782945738, + 115.02462390214089, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 670.7287782945738, + 112.42654769078757, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.2287782945738, + 109.82847147943426, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 673.7287782945738, + 107.23039526808094, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 675.2287782945738, + 104.63231905672762, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 676.7287782945738, + 102.03424284537431, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 676.7287782945738, + 102.03424284537431, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 676.7287782945738, + 102.03424284537431, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 676.7287782945738, + 102.03424284537431, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 676.7287782945738, + 102.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 679.326854505927, + 100.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 681.9249307172804, + 99.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 684.5230069286338, + 97.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 687.1210831399871, + 96.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 689.7191593513405, + 94.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 692.3172355626939, + 93.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 694.9153117740473, + 91.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 697.5133879854006, + 90.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 700.111464196754, + 88.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 702.7095404081074, + 87.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 705.3076166194608, + 85.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 707.9056928308141, + 84.03424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 710.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 710.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 713.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 716.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 719.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -39.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -42.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 722.5037690421675, + 82.53424284537431, + -45.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-59-04_752955/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-59-04_752955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f50bbdd5f9fd17aa612290176fad41faf9e504c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-59-04_752955/pose.jsonl @@ -0,0 +1,698 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1777.0656697583347, + 204.04048299275104, + -45.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1777.0656697583347, + 204.04048299275104, + -42.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1777.0656697583347, + 204.04048299275104, + -39.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1777.0656697583347, + 204.04048299275104, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1778.5656697583347, + 201.44240678139772, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1780.0656697583347, + 198.8443305700444, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1781.5656697583347, + 196.2462543586911, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1783.0656697583347, + 193.64817814733777, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1784.5656697583347, + 191.05010193598446, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1784.5656697583347, + 191.05010193598446, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1784.5656697583347, + 191.05010193598446, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1784.5656697583347, + 191.05010193598446, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1784.5656697583347, + 191.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1784.5656697583347, + 188.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1784.5656697583347, + 185.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1784.5656697583347, + 182.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1784.5656697583347, + 179.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1784.5656697583347, + 176.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1784.5656697583347, + 173.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1784.5656697583347, + 170.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1784.5656697583347, + 167.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1784.5656697583347, + 164.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1784.5656697583347, + 161.05010193598446, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1784.5656697583347, + 161.05010193598446, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1784.5656697583347, + 161.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1787.163745969688, + 159.55010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1789.7618221810415, + 158.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1792.3598983923948, + 156.55010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1794.9579746037482, + 155.05010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1797.5560508151016, + 153.55010193598446, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1797.5560508151016, + 153.55010193598446, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1799.0560508151016, + 150.95202572463114, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1800.5560508151016, + 148.35394951327783, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1802.0560508151016, + 145.7558733019245, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1803.5560508151016, + 143.1577970905712, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1805.0560508151016, + 140.55972087921788, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1806.5560508151016, + 137.96164466786456, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1808.0560508151016, + 135.36356845651125, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1808.0560508151016, + 135.36356845651125, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1810.654127026455, + 133.86356845651125, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1813.2522032378083, + 132.36356845651125, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1815.8502794491617, + 130.86356845651125, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1818.448355660515, + 129.36356845651125, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1821.0464318718684, + 127.86356845651125, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1821.0464318718684, + 127.86356845651125, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1821.0464318718684, + 127.86356845651125, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1823.6445080832218, + 126.36356845651125, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1826.2425842945752, + 124.86356845651125, + -33.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1826.2425842945752, + 124.86356845651125, + -36.018700075641036, + -0.5235987755982894 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1826.2425842945752, + 124.86356845651125, + -39.018700075641036, + -0.5235987755982894 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1826.2425842945752, + 124.86356845651125, + -42.018700075641036, + -0.5235987755982894 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1826.2425842945752, + 124.86356845651125, + -45.018700075641036, + -0.5235987755982894 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1836.0, + 108.0, + -29.1778 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-05-01_359111/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-05-01_359111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5062cc963217586c1f5abbb0662d10f882eacbde --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-05-01_359111/pose.jsonl @@ -0,0 +1,601 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -45.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -42.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -39.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -36.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -33.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -30.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -27.94555044515363, + 0.5235987755982894 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1021.7557467376002, + -280.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1024.3538229489536, + -279.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1026.951899160307, + -277.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1029.5499753716604, + -276.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1032.1480515830137, + -274.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1034.746127794367, + -273.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1037.3442040057205, + -271.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1039.9422802170739, + -270.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1042.5403564284272, + -268.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1045.1384326397806, + -267.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1047.736508851134, + -265.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1050.3345850624873, + -264.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1052.9326612738407, + -262.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1055.530737485194, + -261.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1058.1288136965475, + -259.9713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1060.7268899079008, + -258.4713308252996, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1063.3249661192542, + -256.9713308252996, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1063.3249661192542, + -256.9713308252996, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1065.9230423306076, + -255.47133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1068.521118541961, + -253.97133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1071.1191947533143, + -252.47133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1073.7172709646677, + -250.97133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1076.315347176021, + -249.47133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1078.9134233873745, + -247.97133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1081.5114995987278, + -246.47133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1084.1095758100812, + -244.97133082529962, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1086.7076520214346, + -243.47133082529962, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1086.7076520214346, + -243.47133082529962, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1086.7076520214346, + -243.47133082529962, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -27.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -30.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -33.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -36.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -39.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -42.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1089.7076520214346, + -243.47133082529962, + -45.94555044515363, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -220.0, + -29.2418 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-09-48_833584/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-09-48_833584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7419eadfb50d3c6a9053064ac25dbab0f06b3b80 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-09-48_833584/pose.jsonl @@ -0,0 +1,893 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -45.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -42.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -39.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -36.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -33.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -30.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -27.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -24.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -21.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -18.45896488023839, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1776.0833103780765, + 539.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1776.0833103780765, + 536.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1776.0833103780765, + 533.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1776.0833103780765, + 530.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1776.0833103780765, + 527.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1776.0833103780765, + 524.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1776.0833103780765, + 521.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1776.0833103780765, + 518.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1776.0833103780765, + 515.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1776.0833103780765, + 512.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1776.0833103780765, + 509.276617874748, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1776.0833103780765, + 509.276617874748, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1776.0833103780765, + 509.276617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1773.485234166723, + 507.776617874748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -15.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -12.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -9.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -6.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -3.4589648802383888 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -0.4589648802383888 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1770.8871579553697, + 506.276617874748, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1769.3871579553697, + 503.6785416633947, + -0.4589648802383888 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1769.3871579553697, + 503.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1769.3871579553697, + 500.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1769.3871579553697, + 497.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1769.3871579553697, + 494.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1769.3871579553697, + 491.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1769.3871579553697, + 488.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1769.3871579553697, + 485.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1769.3871579553697, + 482.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1769.3871579553697, + 479.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1769.3871579553697, + 476.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1769.3871579553697, + 473.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1769.3871579553697, + 470.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1769.3871579553697, + 467.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1769.3871579553697, + 464.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1769.3871579553697, + 461.6785416633947, + -0.4589648802383888 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -0.4589648802383888 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -3.4589648802383888 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -6.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -9.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -12.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1769.3871579553697, + 458.6785416633947, + -12.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1770.8871579553697, + 456.0804654520414, + -12.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -12.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -18.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -21.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -24.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -27.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -30.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -33.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -36.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -39.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -42.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1772.3871579553697, + 453.48238924068806, + -45.45896488023839, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-24-37_32156/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-24-37_32156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9aa4d5add7e126346e68ffe9c1751ba3cba7ad09 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-24-37_32156/pose.jsonl @@ -0,0 +1,945 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 920.6773443656278, + 373.633297912774, + -45.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 920.6773443656278, + 373.633297912774, + -42.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 920.6773443656278, + 373.633297912774, + -39.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 920.6773443656278, + 373.633297912774, + -36.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 920.6773443656278, + 373.633297912774, + -33.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 920.6773443656278, + 373.633297912774, + -30.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 920.6773443656278, + 373.633297912774, + -27.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 920.6773443656278, + 373.633297912774, + -24.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 920.6773443656278, + 373.633297912774, + -21.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 920.6773443656278, + 373.633297912774, + -18.45896488023839, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 920.6773443656278, + 373.633297912774, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 919.1773443656278, + 376.23137412412734, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 917.6773443656278, + 378.82945033548066, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 916.1773443656278, + 381.427526546834, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 914.6773443656278, + 384.0256027581873, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 913.1773443656278, + 386.6236789695406, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 913.1773443656278, + 386.6236789695406, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 913.1773443656278, + 389.6236789695406, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 913.1773443656278, + 392.6236789695406, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 913.1773443656278, + 395.6236789695406, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -15.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -12.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -9.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -6.458964880238389 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -3.4589648802383888 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 913.1773443656278, + 398.6236789695406, + -0.4589648802383888 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 913.1773443656278, + 398.6236789695406, + 2.5410351197616112 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 913.1773443656278, + 398.6236789695406, + 2.5410351197616112 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 913.1773443656278, + 398.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 910.5792681542746, + 400.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 907.9811919429212, + 401.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 905.3831157315678, + 403.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 902.7850395202145, + 404.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 900.1869633088611, + 406.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 897.5888870975077, + 407.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 894.9908108861543, + 409.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 892.392734674801, + 410.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 889.7946584634476, + 412.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 887.1965822520942, + 413.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 884.5985060407409, + 415.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 882.0004298293875, + 416.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 879.4023536180341, + 418.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 876.8042774066807, + 419.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 874.2062011953274, + 421.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 871.608124983974, + 422.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 869.0100487726206, + 424.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 866.4119725612672, + 425.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 863.8138963499139, + 427.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 861.2158201385605, + 428.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 858.6177439272071, + 430.1236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 856.0196677158538, + 431.6236789695406, + 2.5410351197616112 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 853.4215915045004, + 433.1236789695406, + 2.5410351197616112 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -0.4589648802383888 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -3.4589648802383888 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -6.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -9.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -12.458964880238389 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 853.4215915045004, + 433.1236789695406, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -18.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -21.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -24.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -27.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -30.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -33.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -36.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -39.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -42.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 851.9215915045004, + 435.7217551808939, + -45.45896488023839, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-29-11_296549/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-29-11_296549/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b44d371c888b1cd27fa744e8b97d6138dd3db7c5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-29-11_296549/pose.jsonl @@ -0,0 +1,732 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -45.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -42.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -39.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -36.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -33.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -30.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -27.94555044515363, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1561.4779599584588, + 179.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1561.4779599584588, + 176.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1561.4779599584588, + 173.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1561.4779599584588, + 170.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1561.4779599584588, + 167.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1561.4779599584588, + 164.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1561.4779599584588, + 161.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1561.4779599584588, + 158.01730154523725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1561.4779599584588, + 155.01730154523725, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1561.4779599584588, + 155.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1561.4779599584588, + 152.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1561.4779599584588, + 149.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1561.4779599584588, + 146.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1561.4779599584588, + 143.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1561.4779599584588, + 140.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1561.4779599584588, + 137.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1561.4779599584588, + 134.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1561.4779599584588, + 131.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1561.4779599584588, + 128.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1561.4779599584588, + 125.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1561.4779599584588, + 122.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1561.4779599584588, + 119.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1561.4779599584588, + 116.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1561.4779599584588, + 113.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1561.4779599584588, + 110.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1561.4779599584588, + 107.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1561.4779599584588, + 104.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1561.4779599584588, + 101.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1561.4779599584588, + 98.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1561.4779599584588, + 95.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1561.4779599584588, + 92.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1561.4779599584588, + 89.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1561.4779599584588, + 86.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1561.4779599584588, + 83.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1561.4779599584588, + 80.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1561.4779599584588, + 77.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1561.4779599584588, + 74.01730154523725, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1561.4779599584588, + 74.01730154523725, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -21.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -24.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -27.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -30.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -33.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -36.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -39.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -42.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1562.9779599584588, + 71.41922533388393, + -45.94555044515363, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + 52.0, + -29.3652 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-48-25_272532/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-48-25_272532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c716f4ac60657266a3661c60265b44acb181bf9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-48-25_272532/pose.jsonl @@ -0,0 +1,684 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 122.23323896239904, + -271.4624594747369, + -45.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.23323896239904, + -271.4624594747369, + -42.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.23323896239904, + -271.4624594747369, + -39.018700075641036, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 122.23323896239904, + -271.4624594747369, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.73323896239904, + -274.0605356860902, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.23323896239904, + -276.6586118974435, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.73323896239904, + -279.2566881087968, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.23323896239904, + -281.85476432015014, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.73323896239904, + -284.45284053150345, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 113.23323896239904, + -287.05091674285677, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 111.73323896239904, + -289.6489929542101, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 110.23323896239904, + -292.2470691655634, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.73323896239904, + -294.8451453769167, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.23323896239904, + -297.44322158827003, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 107.23323896239904, + -297.44322158827003, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 107.23323896239904, + -297.44322158827003, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 107.23323896239904, + -297.44322158827003, + -27.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 107.23323896239904, + -297.44322158827003, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 105.73323896239904, + -300.04129779962335, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 104.23323896239904, + -302.63937401097667, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 102.73323896239904, + -305.23745022233, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 101.23323896239904, + -307.8355264336833, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 99.73323896239904, + -310.4336026450366, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 98.23323896239904, + -313.03167885638993, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 96.73323896239904, + -315.62975506774325, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 95.23323896239904, + -318.22783127909656, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 93.73323896239904, + -320.8259074904499, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 92.23323896239904, + -323.4239837018032, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 90.73323896239904, + -326.0220599131565, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 89.23323896239904, + -328.6201361245098, + -24.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 89.23323896239904, + -328.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 89.23323896239904, + -331.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 89.23323896239904, + -334.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 89.23323896239904, + -337.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 89.23323896239904, + -340.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 89.23323896239904, + -343.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 89.23323896239904, + -346.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 89.23323896239904, + -349.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 89.23323896239904, + -352.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 89.23323896239904, + -355.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 89.23323896239904, + -358.6201361245098, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -24.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 89.23323896239904, + -361.6201361245098, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 87.73323896239904, + -364.21821233586314, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 87.73323896239904, + -364.21821233586314, + -39.018700075641036, + -2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 87.73323896239904, + -364.21821233586314, + -42.018700075641036, + -2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 87.73323896239904, + -364.21821233586314, + -45.018700075641036, + -2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 80.0, + -384.0, + 0.299492 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-49-07_764392/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-49-07_764392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e34cca3631aae9761bfcafb9a824e6737485310 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-49-07_764392/pose.jsonl @@ -0,0 +1,744 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -45.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -42.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -39.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -36.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -33.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -30.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -27.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 983.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 980.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 977.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 974.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 971.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 968.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 965.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 962.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 959.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 956.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 953.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 950.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 947.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 944.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 941.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 938.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 935.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 932.4707330996848, + 62.5370031715202, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 932.4707330996848, + 62.5370031715202, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 932.4707330996848, + 62.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 929.8726568883314, + 61.0370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 927.2745806769781, + 59.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 924.6765044656247, + 58.0370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 922.0784282542713, + 56.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 919.480352042918, + 55.0370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 916.8822758315646, + 53.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 914.2841996202112, + 52.0370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 911.6861234088578, + 50.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 909.0880471975045, + 49.0370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 906.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 906.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 903.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 900.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 897.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 894.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 891.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 888.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 885.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 882.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -27.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -30.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -33.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -36.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -39.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -42.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 879.4899709861511, + 47.5370031715202, + -45.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 852.0, + 44.0, + -27.417 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-02_12940/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-02_12940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc40261504901951f7b1e28013b3743032f737cf --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-02_12940/pose.jsonl @@ -0,0 +1,710 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1642.7439267958605, + 378.8006159551235, + -45.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1642.7439267958605, + 378.8006159551235, + -42.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1642.7439267958605, + 378.8006159551235, + -39.018700075641036, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1642.7439267958605, + 378.8006159551235, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1644.2439267958605, + 376.20253974377016, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1645.7439267958605, + 373.60446353241684, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1647.2439267958605, + 371.0063873210635, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1648.7439267958605, + 368.4083111097102, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1648.7439267958605, + 368.4083111097102, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1648.7439267958605, + 368.4083111097102, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1648.7439267958605, + 368.4083111097102, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1648.7439267958605, + 368.4083111097102, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1651.3420030072139, + 366.9083111097102, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1651.3420030072139, + 366.9083111097102, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1652.8420030072139, + 364.3102348983569, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1652.8420030072139, + 364.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1655.4400792185672, + 362.8102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1658.0381554299206, + 361.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1660.636231641274, + 359.8102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1663.2343078526274, + 358.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1665.8323840639807, + 356.8102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1668.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1668.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1671.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1674.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1677.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1680.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1683.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1686.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1689.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1692.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1695.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1698.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1701.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1704.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1707.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1710.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1713.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1716.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1719.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1722.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1725.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1728.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1731.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1734.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1737.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -39.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -42.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1740.430460275334, + 355.3102348983569, + -45.018700075641036, + 0.0 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1760.0, + 352.0, + -8.07619 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-45_626154/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-45_626154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06407b60bec19e1b581e237dbdb6521b355fe7b1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_04-52-45_626154/pose.jsonl @@ -0,0 +1,645 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1960.498157143679, + 565.7762924846635, + -45.018700075641036, + -2.094395102393205 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1960.498157143679, + 565.7762924846635, + -42.018700075641036, + -2.094395102393205 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1960.498157143679, + 565.7762924846635, + -39.018700075641036, + -2.094395102393205 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1960.498157143679, + 565.7762924846635, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1958.998157143679, + 563.1782162733102, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1957.498157143679, + 560.5801400619569, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1957.498157143679, + 560.5801400619569, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1957.498157143679, + 560.5801400619569, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1957.498157143679, + 560.5801400619569, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1957.498157143679, + 560.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1957.498157143679, + 557.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1957.498157143679, + 554.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1957.498157143679, + 551.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949063 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1957.498157143679, + 548.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1957.498157143679, + 545.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1957.498157143679, + 542.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1957.498157143679, + 539.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1957.498157143679, + 536.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1957.498157143679, + 533.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1957.498157143679, + 530.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1957.498157143679, + 527.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1957.498157143679, + 524.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1957.498157143679, + 521.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1957.498157143679, + 518.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1957.498157143679, + 515.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1957.498157143679, + 512.5801400619569, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1957.498157143679, + 512.5801400619569, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1957.498157143679, + 512.5801400619569, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1960.0962333550324, + 511.08014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1962.6943095663858, + 509.58014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1965.2923857777391, + 508.08014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1967.8904619890925, + 506.58014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1970.4885382004459, + 505.08014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1973.0866144117992, + 503.58014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1975.6846906231526, + 502.08014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1978.282766834506, + 500.58014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1980.8808430458594, + 499.08014006195685, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1980.8808430458594, + 499.08014006195685, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1982.3808430458594, + 496.48206385060354, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1983.8808430458594, + 493.8839876392502, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1985.3808430458594, + 491.2859114278969, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -39.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -42.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1986.8808430458594, + 488.6878352165436, + -45.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-05-42_91328/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-05-42_91328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9d5005fa57e4154b7a0a2d9aa218ee91b09d031 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-05-42_91328/pose.jsonl @@ -0,0 +1,666 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -45.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -42.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -39.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -36.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -33.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -30.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -27.94555044515363, + 2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.51833967217544, + 377.45536211372024, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 386.01833967217544, + 380.05343832507356, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 384.51833967217544, + 382.6515145364269, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.01833967217544, + 385.2495907477802, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 381.51833967217544, + 387.8476669591335, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 380.01833967217544, + 390.4457431704868, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.51833967217544, + 393.04381938184014, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 377.01833967217544, + 395.64189559319345, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 375.51833967217544, + 398.23997180454677, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 374.01833967217544, + 400.8380480159001, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 372.51833967217544, + 403.4361242272534, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 371.01833967217544, + 406.0342004386067, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.51833967217544, + 408.63227664996003, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 368.01833967217544, + 411.23035286131335, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 366.51833967217544, + 413.82842907266667, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 365.01833967217544, + 416.42650528402, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 363.51833967217544, + 419.0245814953733, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.01833967217544, + 421.6226577067266, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 360.51833967217544, + 424.22073391807993, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 359.01833967217544, + 426.81881012943325, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 359.01833967217544, + 426.81881012943325, + -21.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 359.01833967217544, + 426.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 359.01833967217544, + 429.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 359.01833967217544, + 432.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 359.01833967217544, + 435.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 359.01833967217544, + 438.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 359.01833967217544, + 441.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 359.01833967217544, + 444.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 359.01833967217544, + 447.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 359.01833967217544, + 450.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 359.01833967217544, + 453.81881012943325, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 359.01833967217544, + 453.81881012943325, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 357.51833967217544, + 456.41688634078656, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -27.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -30.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -33.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -36.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -39.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -42.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 356.01833967217544, + 459.0149625521399, + -45.94555044515363, + 2.0943951023931953 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 484.0, + -1.13109 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-10-18_427600/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-10-18_427600/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c1d7e16e0fcf6cd137358e078e74bd3dd710ae8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-10-18_427600/pose.jsonl @@ -0,0 +1,770 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -45.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -42.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -39.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -36.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -33.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -30.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -27.94555044515363, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1944.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1941.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1938.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1935.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1932.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1929.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1926.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1923.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1920.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1917.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1914.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1911.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1908.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1905.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1902.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1899.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1896.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1893.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1890.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1887.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1884.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1884.193591705645, + 863.6783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1881.5955154942917, + 865.1783781274452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1878.9974392829383, + 866.6783781274452, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1878.9974392829383, + 866.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1876.399363071585, + 868.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1873.8012868602316, + 869.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1871.2032106488782, + 871.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1868.6051344375248, + 872.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1866.0070582261715, + 874.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1863.408982014818, + 875.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1860.8109058034647, + 877.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1858.2128295921113, + 878.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1855.614753380758, + 880.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1853.0166771694046, + 881.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1850.4186009580512, + 883.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1847.8205247466979, + 884.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1845.2224485353445, + 886.1783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1842.624372323991, + 887.6783781274452, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1842.624372323991, + 887.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1839.624372323991, + 887.6783781274452, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -27.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -30.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -33.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -36.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -39.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -42.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1836.624372323991, + 887.6783781274452, + -45.94555044515363, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1812.0, + 892.0, + -28.2729 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-11-34_789963/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-11-34_789963/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64a51d6a3dff52a01efa06a310f805ee043c817d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-11-34_789963/pose.jsonl @@ -0,0 +1,763 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 877.9977512670232, + 225.6973278603175, + -45.018700075641036, + -2.6179938779915037 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 877.9977512670232, + 225.6973278603175, + -42.018700075641036, + -2.6179938779915037 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 877.9977512670232, + 225.6973278603175, + -39.018700075641036, + -2.6179938779915037 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 877.9977512670232, + 225.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 875.3996750556698, + 224.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 872.8015988443165, + 222.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 870.2035226329631, + 221.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 867.6054464216097, + 219.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 865.0073702102563, + 218.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 862.409293998903, + 216.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 859.8112177875496, + 215.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 857.2131415761962, + 213.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 854.6150653648428, + 212.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 852.0169891534895, + 210.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 849.4189129421361, + 209.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 846.8208367307827, + 207.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 844.2227605194294, + 206.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 841.624684308076, + 204.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 839.0266080967226, + 203.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 836.4285318853692, + 201.6973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 833.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 833.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 830.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 827.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 824.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 821.8304556740159, + 200.1973278603175, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 820.3304556740159, + 197.59925164896418, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 818.8304556740159, + 195.00117543761087, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 817.3304556740159, + 192.40309922625755, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 815.8304556740159, + 189.80502301490424, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 814.3304556740159, + 187.20694680355092, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 812.8304556740159, + 184.6088705921976, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 811.3304556740159, + 182.0107943808443, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 809.8304556740159, + 179.41271816949097, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 808.3304556740159, + 176.81464195813766, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 806.8304556740159, + 174.21656574678434, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 805.3304556740159, + 171.61848953543102, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 803.8304556740159, + 169.0204133240777, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 803.8304556740159, + 169.0204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 801.2323794626625, + 167.5204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 798.6343032513091, + 166.0204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 796.0362270399557, + 164.5204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 793.4381508286024, + 163.0204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 790.840074617249, + 161.5204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 788.2419984058956, + 160.0204133240777, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -33.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -36.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -39.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -42.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 785.6439221945423, + 158.5204133240777, + -45.018700075641036, + -2.6179938779915037 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 760.0, + 140.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-13-08_161544/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-13-08_161544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99a1316e1ca73e27f51f6251842ee97855715d02 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-13-08_161544/pose.jsonl @@ -0,0 +1,450 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -130.24866514867642, + 547.9705089568689, + -45.018700075641036, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -130.24866514867642, + 547.9705089568689, + -42.018700075641036, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -130.24866514867642, + 547.9705089568689, + -39.018700075641036, + -1.5707963267948966 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -130.24866514867642, + 547.9705089568689, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -130.24866514867642, + 544.9705089568689, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -130.24866514867642, + 541.9705089568689, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -130.24866514867642, + 538.9705089568689, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -130.24866514867642, + 535.9705089568689, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.24866514867642, + 532.9705089568689, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -130.24866514867642, + 532.9705089568689, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -130.24866514867642, + 532.9705089568689, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -130.24866514867642, + 532.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -130.24866514867642, + 529.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.24866514867642, + 526.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -130.24866514867642, + 523.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -130.24866514867642, + 520.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.24866514867642, + 517.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.24866514867642, + 514.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -130.24866514867642, + 511.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -130.24866514867642, + 508.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -130.24866514867642, + 505.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -130.24866514867642, + 502.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.24866514867642, + 499.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.24866514867642, + 496.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.24866514867642, + 493.9705089568689, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -130.24866514867642, + 493.9705089568689, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -39.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -42.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.74866514867642, + 491.3724327455156, + -45.018700075641036, + -1.0471975511965979 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -124.0, + 440.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-32-14_46113/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-32-14_46113/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f5baf82ed49d83f0662dd1b9eb0d85ca5261b78 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-32-14_46113/pose.jsonl @@ -0,0 +1,606 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -45.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -42.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -39.018700075641036, + 1.971e-320 + ], + "type": "up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 1.971e-320 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -96.08375939830199, + 434.1470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -98.68183560965531, + 435.6470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -101.27991182100862, + 437.1470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -103.87798803236194, + 438.6470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -106.47606424371526, + 440.1470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -109.07414045506857, + 441.6470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -111.67221666642189, + 443.1470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -114.2702928777752, + 444.6470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -116.86836908912852, + 446.1470878750142, + -27.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -116.86836908912852, + 446.1470878750142, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -118.36836908912852, + 448.74516408636754, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -119.86836908912852, + 451.34324029772085, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -121.36836908912852, + 453.94131650907417, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -122.86836908912852, + 456.5393927204275, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -124.36836908912852, + 459.1374689317808, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -125.86836908912852, + 461.7355451431341, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -127.36836908912852, + 464.33362135448743, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -128.86836908912852, + 466.93169756584075, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -130.36836908912852, + 469.52977377719407, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -131.86836908912852, + 472.1278499885474, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -133.36836908912852, + 474.7259261999007, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -134.86836908912852, + 477.324002411254, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -136.36836908912852, + 479.92207862260733, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -137.86836908912852, + 482.52015483396065, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -139.36836908912852, + 485.11823104531396, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -139.36836908912852, + 485.11823104531396, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -139.36836908912852, + 485.11823104531396, + -33.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -139.36836908912852, + 485.11823104531396, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -139.36836908912852, + 488.11823104531396, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -139.36836908912852, + 491.11823104531396, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -139.36836908912852, + 491.11823104531396, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -139.36836908912852, + 491.11823104531396, + -39.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -139.36836908912852, + 491.11823104531396, + -42.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -139.36836908912852, + 491.11823104531396, + -45.018700075641036, + 1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -160.0, + 516.0, + -30.1696 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-34-14_985383/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-34-14_985383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da95f7a1f7b6933aad30b4b13d69f55e04d75753 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-34-14_985383/pose.jsonl @@ -0,0 +1,796 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -45.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -42.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -39.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -36.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -33.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -30.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -27.94555044515363, + -2.0943951023931953 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1641.524739745502, + 66.87219947361137, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1640.024739745502, + 64.27412326225806, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1638.524739745502, + 61.67604705090474, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1637.024739745502, + 59.077970839551426, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1635.524739745502, + 56.47989462819811, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1634.024739745502, + 53.881818416844794, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1632.524739745502, + 51.28374220549148, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1631.024739745502, + 48.68566599413816, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1629.524739745502, + 46.087589782784846, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1628.024739745502, + 43.48951357143153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1626.524739745502, + 40.891437360078214, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1625.024739745502, + 38.2933611487249, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1623.524739745502, + 35.69528493737158, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1622.024739745502, + 33.097208726018266, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1620.524739745502, + 30.49913251466495, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1619.024739745502, + 27.901056303311634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1617.524739745502, + 25.302980091958318, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1616.024739745502, + 22.704903880605002, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1616.024739745502, + 22.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1616.024739745502, + 19.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1616.024739745502, + 16.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1616.024739745502, + 13.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1616.024739745502, + 10.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1616.024739745502, + 7.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1616.024739745502, + 4.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1616.024739745502, + 1.704903880605002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1616.024739745502, + -1.295096119394998, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1616.024739745502, + -1.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1616.024739745502, + -4.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1616.024739745502, + -7.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1616.024739745502, + -10.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1616.024739745502, + -13.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1616.024739745502, + -16.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1616.024739745502, + -19.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1616.024739745502, + -22.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1616.024739745502, + -25.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1616.024739745502, + -28.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1616.024739745502, + -31.295096119394998, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1616.024739745502, + -34.295096119395, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1616.024739745502, + -37.295096119395, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1616.024739745502, + -40.295096119395, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1616.024739745502, + -43.295096119395, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1616.024739745502, + -46.295096119395, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1616.024739745502, + -49.295096119395, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1616.024739745502, + -49.295096119395, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1616.024739745502, + -49.295096119395, + -27.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1616.024739745502, + -49.295096119395, + -30.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1616.024739745502, + -49.295096119395, + -33.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1616.024739745502, + -49.295096119395, + -36.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1616.024739745502, + -49.295096119395, + -39.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1616.024739745502, + -49.295096119395, + -42.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1616.024739745502, + -49.295096119395, + -45.94555044515363, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-38-26_267804/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-38-26_267804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d98fb0368b2b158b1cb57a452ec09b043aaf186 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-38-26_267804/pose.jsonl @@ -0,0 +1,607 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 795.4780373126672, + 1137.9113019663985, + -45.018700075641036, + -2.617993877991485 + ], + "type": "up", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 795.4780373126672, + 1137.9113019663985, + -42.018700075641036, + -2.617993877991485 + ], + "type": "up", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.4780373126672, + 1137.9113019663985, + -39.018700075641036, + -2.617993877991485 + ], + "type": "up", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 795.4780373126672, + 1137.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 792.8799611013139, + 1136.4113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 790.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 787.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 784.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 781.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 778.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -27.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -24.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 775.2818848899606, + 1134.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 772.6838086786072, + 1133.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 770.0857324672538, + 1131.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 767.4876562559004, + 1130.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 764.8895800445471, + 1128.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 762.2915038331937, + 1127.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 759.6934276218403, + 1125.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 757.095351410487, + 1124.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 754.4972751991336, + 1122.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 751.8991989877802, + 1121.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 749.3011227764268, + 1119.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 746.7030465650735, + 1118.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 744.1049703537201, + 1116.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 741.5068941423667, + 1115.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 738.9088179310133, + 1113.9113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 736.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 736.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 733.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 730.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 727.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 724.31074171966, + 1112.4113019663985, + -24.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 724.31074171966, + 1112.4113019663985, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 724.31074171966, + 1112.4113019663985, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 724.31074171966, + 1112.4113019663985, + -33.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 721.31074171966, + 1112.4113019663985, + -33.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 721.31074171966, + 1112.4113019663985, + -36.018700075641036, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 721.31074171966, + 1112.4113019663985, + -39.018700075641036, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 721.31074171966, + 1112.4113019663985, + -42.018700075641036, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 721.31074171966, + 1112.4113019663985, + -45.018700075641036, + 3.141592653589793 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1104.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-40-21_134300/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-40-21_134300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20e8b993c2e31a6fb61ec758aa5460cb258d8e62 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-40-21_134300/pose.jsonl @@ -0,0 +1,632 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 853.9908836007922, + 1265.7006083508747, + -45.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 853.9908836007922, + 1265.7006083508747, + -42.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 853.9908836007922, + 1265.7006083508747, + -39.018700075641036, + 3.141592653589793 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 853.9908836007922, + 1265.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 850.9908836007922, + 1265.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 847.9908836007922, + 1265.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 844.9908836007922, + 1265.7006083508747, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 844.9908836007922, + 1265.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 842.392807389439, + 1264.2006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 839.7947311780856, + 1262.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 837.1966549667322, + 1261.2006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 834.5985787553789, + 1259.7006083508747, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 832.0005025440255, + 1258.2006083508747, + -36.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 832.0005025440255, + 1258.2006083508747, + -33.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 832.0005025440255, + 1258.2006083508747, + -30.018700075641036 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 832.0005025440255, + 1258.2006083508747, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 832.0005025440255, + 1258.2006083508747, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 830.5005025440255, + 1255.6025321395214, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.0005025440255, + 1253.004455928168, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 827.5005025440255, + 1250.4063797168146, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 826.0005025440255, + 1247.8083035054613, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 824.5005025440255, + 1245.2102272941079, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 823.0005025440255, + 1242.6121510827545, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 821.5005025440255, + 1240.0140748714011, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 820.0005025440255, + 1237.4159986600478, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 818.5005025440255, + 1234.8179224486944, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 817.0005025440255, + 1232.219846237341, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 815.5005025440255, + 1229.6217700259876, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 814.0005025440255, + 1227.0236938146343, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 812.5005025440255, + 1224.425617603281, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 811.0005025440255, + 1221.8275413919275, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 809.5005025440255, + 1219.2294651805742, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 808.0005025440255, + 1216.6313889692208, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 806.5005025440255, + 1214.0333127578674, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 805.0005025440255, + 1211.435236546514, + -27.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 805.0005025440255, + 1211.435236546514, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 805.0005025440255, + 1208.435236546514, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 805.0005025440255, + 1205.435236546514, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 805.0005025440255, + 1202.435236546514, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 805.0005025440255, + 1199.435236546514, + -27.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -27.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -30.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -33.018700075641036 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -39.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -42.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 805.0005025440255, + 1196.435236546514, + -45.018700075641036, + -1.5707963267948966 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 1176.0, + -28.2416 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-48-22_938083/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-48-22_938083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bf493341a488044550276fabc35e354455affd1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-48-22_938083/pose.jsonl @@ -0,0 +1,640 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -45.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -42.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -39.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -36.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -33.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -30.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -27.94555044515363, + -1.0471975511965979 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.1120895459415, + 126.62223580938154, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 231.6120895459415, + 124.02415959802822, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.1120895459415, + 121.4260833866749, + -24.94555044515363 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 233.1120895459415, + 121.4260833866749, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 234.6120895459415, + 118.82800717532159, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.1120895459415, + 116.22993096396827, + -21.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.1120895459415, + 116.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.71016575729482, + 114.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 241.30824196864813, + 113.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 243.90631818000145, + 111.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 246.50439439135477, + 110.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 249.10247060270808, + 108.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 251.7005468140614, + 107.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 254.2986230254147, + 105.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 256.89669923676803, + 104.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 259.49477544812135, + 102.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 262.09285165947466, + 101.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.690927870828, + 99.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.2890040821813, + 98.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 269.8870802935346, + 96.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 272.4851565048879, + 95.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 275.08323271624124, + 93.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 277.68130892759456, + 92.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 280.2793851389479, + 90.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 282.8774613503012, + 89.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 285.4755375616545, + 87.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 288.0736137730078, + 86.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 290.67168998436114, + 84.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 293.26976619571445, + 83.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 295.86784240706777, + 81.72993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 298.4659186184211, + 80.22993096396827, + -21.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -21.94555044515363 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -27.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -30.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -33.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -36.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -39.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -42.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 301.0639948297744, + 78.72993096396827, + -45.94555044515363, + -0.5235987755982988 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 64.0, + -0.161909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-37-26_424238335/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-37-26_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe3c1f944cac8bd96116312b3c79718ea3d61e6f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-37-26_424238335/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 607.30191150881, + -166.51738672824354, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 607.30191150881, + -166.51738672824354, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 607.30191150881, + -166.51738672824354, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 607.30191150881, + -166.51738672824354, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 607.30191150881, + -166.51738672824354, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 607.30191150881, + -166.51738672824354, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 607.30191150881, + -166.51738672824354, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 607.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 610.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 613.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 616.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 619.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 622.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 625.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 628.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 631.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 634.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 637.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 640.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 643.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 646.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 649.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 652.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 655.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 658.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 661.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 664.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 667.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 670.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 673.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 676.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 679.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 682.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 685.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 688.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 691.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 694.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 697.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 700.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 703.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 706.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 709.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 712.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 715.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 718.30191150881, + -166.51738672824354, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 718.30191150881, + -166.51738672824354, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 718.30191150881, + -166.51738672824354, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 718.30191150881, + -166.51738672824354, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 718.30191150881, + -166.51738672824354, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 718.30191150881, + -166.51738672824354, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 718.30191150881, + -166.51738672824354, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 718.30191150881, + -166.51738672824354, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + -168.0, + -29.6206 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-47-13_233665123/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-47-13_233665123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1befcac3962500dbbe77595c4c4c530ca4efbf97 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-47-13_233665123/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1097.9943877600097, + 209.83964105967053, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1099.4943877600097, + 212.43771727102384, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1100.9943877600097, + 215.03579348237716, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1102.4943877600097, + 217.63386969373047, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1103.9943877600097, + 220.2319459050838, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1105.4943877600097, + 222.8300221164371, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1106.9943877600097, + 225.42809832779042, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1108.4943877600097, + 228.02617453914374, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1109.9943877600097, + 230.62425075049705, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1111.4943877600097, + 233.22232696185037, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1112.9943877600097, + 235.8204031732037, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1114.4943877600097, + 238.418479384557, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1115.9943877600097, + 241.01655559591032, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1117.4943877600097, + 243.61463180726363, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1118.9943877600097, + 246.21270801861695, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1120.4943877600097, + 248.81078422997027, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1121.9943877600097, + 251.40886044132358, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1123.4943877600097, + 254.0069366526769, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1123.4943877600097, + 254.0069366526769, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1123.4943877600097, + 257.0069366526769, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1144.0, + 300.0, + 0.65896 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-53-55_1914544919/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-53-55_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7c2fb220ea7a1b870dec2c907999a8f122d0536 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-53-55_1914544919/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 778.478940492381, + 973.5040257675054, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 778.478940492381, + 973.5040257675054, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 778.478940492381, + 973.5040257675054, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 778.478940492381, + 973.5040257675054, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 778.478940492381, + 973.5040257675054, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 778.478940492381, + 973.5040257675054, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 778.478940492381, + 973.5040257675054, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 778.478940492381, + 973.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 781.0770167037342, + 972.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 783.6750929150876, + 970.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 786.273169126441, + 969.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 788.8712453377943, + 967.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 791.4693215491477, + 966.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 794.0673977605011, + 964.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 796.6654739718545, + 963.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 799.2635501832078, + 961.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 801.8616263945612, + 960.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 804.4597026059146, + 958.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 807.057778817268, + 957.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 809.6558550286213, + 955.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 812.2539312399747, + 954.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 814.8520074513281, + 952.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 817.4500836626814, + 951.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 820.0481598740348, + 949.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 822.6462360853882, + 948.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 825.2443122967416, + 946.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 827.8423885080949, + 945.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 830.4404647194483, + 943.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 833.0385409308017, + 942.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 835.636617142155, + 940.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 838.2346933535084, + 939.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 840.8327695648618, + 937.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 843.4308457762152, + 936.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 846.0289219875685, + 934.5040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 848.6269981989219, + 933.0040257675054, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 848.6269981989219, + 933.0040257675054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 850.1269981989219, + 930.4059495561521, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 851.6269981989219, + 927.8078733447987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 853.1269981989219, + 925.2097971334454, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 854.6269981989219, + 922.611720922092, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 856.1269981989219, + 920.0136447107386, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 857.6269981989219, + 917.4155684993852, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 859.1269981989219, + 914.8174922880319, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 860.6269981989219, + 912.2194160766785, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 862.1269981989219, + 909.6213398653251, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 896.0, + -29.9978 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-59-10_137806862/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-59-10_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b089fc795ab0d287f580a8662ad6594aedadc96 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-13_23-59-10_137806862/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 557.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 560.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 563.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 566.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 569.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 572.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 575.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 578.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 581.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 584.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 587.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 590.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 593.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 596.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 599.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 602.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 605.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 608.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 611.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 614.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 617.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 620.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 623.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 626.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 629.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 632.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 635.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 638.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 641.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 644.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 647.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 647.4853498689538, + 712.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 650.0834260803072, + 711.4610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 652.6815022916605, + 709.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 655.2795785030139, + 708.4610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 657.8776547143673, + 706.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 660.4757309257207, + 705.4610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 663.073807137074, + 703.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 665.6718833484274, + 702.4610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 668.2699595597808, + 700.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 670.8680357711341, + 699.4610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 673.4661119824875, + 697.9610475136365, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 673.4661119824875, + 697.9610475136365, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 676.4661119824875, + 697.9610475136365, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 696.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-1-19_2084420925/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-1-19_2084420925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ad7dc31c49d5c082db201b2a2bda27f64a493da --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-1-19_2084420925/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 822.7445164080646, + 1314.0620923294155, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 821.2445164080646, + 1311.464016118062, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 819.7445164080646, + 1308.8659399067087, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 818.2445164080646, + 1306.2678636953553, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 816.7445164080646, + 1303.669787484002, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.2445164080646, + 1301.0717112726486, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 813.7445164080646, + 1298.4736350612952, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 812.2445164080646, + 1295.8755588499419, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 810.7445164080646, + 1293.2774826385885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 809.2445164080646, + 1290.679406427235, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 807.7445164080646, + 1288.0813302158817, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 806.2445164080646, + 1285.4832540045284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 804.7445164080646, + 1282.885177793175, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 803.2445164080646, + 1280.2871015818216, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 801.7445164080646, + 1277.6890253704682, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 800.2445164080646, + 1275.0909491591149, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 798.7445164080646, + 1272.4928729477615, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 797.2445164080646, + 1269.8947967364081, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 795.7445164080646, + 1267.2967205250548, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 795.7445164080646, + 1267.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 795.7445164080646, + 1264.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 795.7445164080646, + 1261.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 795.7445164080646, + 1258.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 795.7445164080646, + 1255.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 795.7445164080646, + 1252.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 795.7445164080646, + 1249.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 795.7445164080646, + 1246.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 795.7445164080646, + 1243.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 795.7445164080646, + 1240.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 795.7445164080646, + 1237.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 795.7445164080646, + 1234.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 795.7445164080646, + 1231.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 795.7445164080646, + 1228.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 795.7445164080646, + 1225.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 795.7445164080646, + 1222.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 795.7445164080646, + 1219.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 795.7445164080646, + 1216.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 795.7445164080646, + 1213.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 795.7445164080646, + 1210.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 795.7445164080646, + 1207.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 795.7445164080646, + 1204.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 795.7445164080646, + 1201.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 795.7445164080646, + 1198.2967205250548, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 795.7445164080646, + 1195.2967205250548, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 1176.0, + -28.2416 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-13-47_596516649/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-13-47_596516649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f19b564ed5220eeb21b123b0f10ce8f6a0585a3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-13-47_596516649/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1899.0685064729603, + 270.31044103305055, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1899.0685064729603, + 270.31044103305055, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1899.0685064729603, + 270.31044103305055, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1899.0685064729603, + 270.31044103305055, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1900.5685064729603, + 267.71236482169724, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1902.0685064729603, + 265.1142886103439, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1903.5685064729603, + 262.5162123989906, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1905.0685064729603, + 259.9181361876373, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1906.5685064729603, + 257.32005997628397, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1908.0685064729603, + 254.72198376493066, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1909.5685064729603, + 252.12390755357734, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1911.0685064729603, + 249.52583134222402, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1912.5685064729603, + 246.9277551308707, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1914.0685064729603, + 244.3296789195174, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1915.5685064729603, + 241.73160270816408, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1917.0685064729603, + 239.13352649681076, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1918.5685064729603, + 236.53545028545744, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1920.0685064729603, + 233.93737407410413, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1921.5685064729603, + 231.3392978627508, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1923.0685064729603, + 228.7412216513975, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1924.5685064729603, + 226.14314544004418, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1926.0685064729603, + 223.54506922869086, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1927.5685064729603, + 220.94699301733755, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1929.0685064729603, + 218.34891680598423, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1929.0685064729603, + 218.34891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1931.6665826843137, + 216.84891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1934.264658895667, + 215.34891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1936.8627351070204, + 213.84891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1939.4608113183738, + 212.34891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1942.0588875297271, + 210.84891680598423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1944.6569637410805, + 209.34891680598423, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1944.6569637410805, + 209.34891680598423, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1944.6569637410805, + 209.34891680598423, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1944.6569637410805, + 209.34891680598423, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1960.0, + 188.0, + -8.00906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-16-2_943947739/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-16-2_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b50e69c202fe6e3247bbadb0e82e9c75bca13a4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-16-2_943947739/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1314.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1317.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1320.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1323.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1326.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1326.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1326.828764505837, + 204.9453823176283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1328.328764505837, + 202.34730610627497, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1329.828764505837, + 199.74922989492165, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1331.328764505837, + 197.15115368356834, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1332.828764505837, + 194.55307747221502, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1334.328764505837, + 191.9550012608617, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1335.828764505837, + 189.3569250495084, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1337.328764505837, + 186.75884883815507, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1338.828764505837, + 184.16077262680176, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1340.328764505837, + 181.56269641544844, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1340.328764505837, + 181.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1342.9268407171903, + 180.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1345.5249169285437, + 178.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1348.122993139897, + 177.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1350.7210693512504, + 175.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1353.3191455626038, + 174.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1355.9172217739572, + 172.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1358.5152979853106, + 171.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1361.113374196664, + 169.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1363.7114504080173, + 168.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1366.3095266193707, + 166.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1368.907602830724, + 165.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1371.5056790420774, + 163.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1374.1037552534308, + 162.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1376.7018314647842, + 160.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1379.2999076761375, + 159.06269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1381.897983887491, + 157.56269641544844, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1381.897983887491, + 157.56269641544844, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1383.397983887491, + 154.96462020409513, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 140.0, + -29.4592 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-20-48_2145174067/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-20-48_2145174067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fdbad084d949d589d16664948e933c356f9a118 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-20-48_2145174067/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 622.7411300319668, + 1143.889302789972, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 622.7411300319668, + 1143.889302789972, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 622.7411300319668, + 1143.889302789972, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 622.7411300319668, + 1143.889302789972, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 624.2411300319668, + 1141.2912265786185, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 625.7411300319668, + 1138.6931503672652, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 627.2411300319668, + 1136.0950741559118, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 628.7411300319668, + 1133.4969979445584, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 630.2411300319668, + 1130.898921733205, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 631.7411300319668, + 1128.3008455218517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 633.2411300319668, + 1125.7027693104983, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 634.7411300319668, + 1123.104693099145, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 636.2411300319668, + 1120.5066168877916, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 637.7411300319668, + 1117.9085406764382, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 639.2411300319668, + 1115.3104644650848, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 640.7411300319668, + 1112.7123882537314, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 642.2411300319668, + 1110.114312042378, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 643.7411300319668, + 1107.5162358310247, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 645.2411300319668, + 1104.9181596196713, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 646.7411300319668, + 1102.320083408318, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 648.2411300319668, + 1099.7220071969646, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 649.7411300319668, + 1097.1239309856112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 651.2411300319668, + 1094.5258547742578, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 652.7411300319668, + 1091.9277785629045, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 654.2411300319668, + 1089.329702351551, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 654.2411300319668, + 1089.329702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 656.8392062433202, + 1087.829702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 659.4372824546736, + 1086.329702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 662.0353586660269, + 1084.829702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 664.6334348773803, + 1083.329702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 667.2315110887337, + 1081.829702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 669.829587300087, + 1080.329702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 672.4276635114404, + 1078.829702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 675.0257397227938, + 1077.329702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 677.6238159341472, + 1075.829702351551, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 677.6238159341472, + 1075.829702351551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 679.1238159341472, + 1073.2316261401977, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 680.6238159341472, + 1070.6335499288443, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 682.1238159341472, + 1068.035473717491, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 682.1238159341472, + 1068.035473717491, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 682.1238159341472, + 1068.035473717491, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 682.1238159341472, + 1068.035473717491, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1048.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-23-53_485560280/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-23-53_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2db309a43eb1f8c6687635b06f8e07886eff10ed --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-23-53_485560280/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1611.8831300536178, + 313.39087301981505, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1613.3831300536178, + 315.98894923116836, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1614.8831300536178, + 318.5870254425217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1616.3831300536178, + 321.185101653875, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1617.8831300536178, + 323.7831778652283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1619.3831300536178, + 326.3812540765816, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1620.8831300536178, + 328.97933028793494, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1622.3831300536178, + 331.57740649928826, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1623.8831300536178, + 334.1754827106416, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1625.3831300536178, + 336.7735589219949, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1626.8831300536178, + 339.3716351333482, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1628.3831300536178, + 341.9697113447015, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1629.8831300536178, + 344.56778755605484, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1631.3831300536178, + 347.16586376740815, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1632.8831300536178, + 349.76393997876147, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1634.3831300536178, + 352.3620161901148, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1635.8831300536178, + 354.9600924014681, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1637.3831300536178, + 357.5581686128214, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1638.8831300536178, + 360.15624482417473, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1640.3831300536178, + 362.75432103552805, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1641.8831300536178, + 365.35239724688137, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1643.3831300536178, + 367.9504734582347, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1644.8831300536178, + 370.548549669588, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1644.8831300536178, + 370.548549669588, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1644.8831300536178, + 373.548549669588, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1644.8831300536178, + 376.548549669588, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1644.8831300536178, + 379.548549669588, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1644.8831300536178, + 382.548549669588, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 408.0, + -29.5391 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-25-57_1653377373/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-25-57_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..835e2b947ecf83b64da71e66399f8af78c74ce5c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-25-57_1653377373/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1940.5983484702945, + 42.00608122990923, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1940.5983484702945, + 42.00608122990923, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1940.5983484702945, + 42.00608122990923, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1940.5983484702945, + 42.00608122990923, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1942.0983484702945, + 39.40800501855591, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1943.5983484702945, + 36.809928807202596, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1945.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1945.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1945.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1948.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1951.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1951.0983484702945, + 34.21185259584928, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1953.6964246816478, + 32.71185259584928, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1956.2945008930012, + 31.21185259584928, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1956.2945008930012, + 31.21185259584928, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1957.7945008930012, + 28.613776384495964, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1959.2945008930012, + 26.015700173142648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1960.7945008930012, + 23.41762396178933, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.2945008930012, + 20.819547750436016, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1963.7945008930012, + 18.2214715390827, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1965.2945008930012, + 15.623395327729384, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1966.7945008930012, + 13.025319116376068, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1968.2945008930012, + 10.427242905022752, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1968.2945008930012, + 10.427242905022752, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1968.2945008930012, + 7.4272429050227515, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1968.2945008930012, + 4.4272429050227515, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1968.2945008930012, + 1.4272429050227515, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1968.2945008930012, + -1.5727570949772485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1968.2945008930012, + -4.5727570949772485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1968.2945008930012, + -7.5727570949772485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1968.2945008930012, + -10.572757094977248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1968.2945008930012, + -13.572757094977248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1968.2945008930012, + -16.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1968.2945008930012, + -19.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1968.2945008930012, + -22.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1968.2945008930012, + -25.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1968.2945008930012, + -28.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1968.2945008930012, + -31.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1968.2945008930012, + -34.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1968.2945008930012, + -37.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1968.2945008930012, + -40.57275709497725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1968.2945008930012, + -43.57275709497725, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1968.2945008930012, + -43.57275709497725, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1968.2945008930012, + -43.57275709497725, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1968.2945008930012, + -43.57275709497725, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-26-21_1947346619/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-26-21_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5f7983bb68ede832b3285435cb9a7b92cae4b87 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-26-21_1947346619/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 958.9029234184194, + 559.7695643752159, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 960.4029234184194, + 557.1714881638625, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 961.9029234184194, + 554.5734119525091, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 963.4029234184194, + 551.9753357411557, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 964.9029234184194, + 549.3772595298024, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 966.4029234184194, + 546.779183318449, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 967.9029234184194, + 544.1811071070956, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 969.4029234184194, + 541.5830308957422, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 970.9029234184194, + 538.9849546843889, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 972.4029234184194, + 536.3868784730355, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 973.9029234184194, + 533.7888022616821, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 975.4029234184194, + 531.1907260503287, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 976.9029234184194, + 528.5926498389754, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 978.4029234184194, + 525.994573627622, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 979.9029234184194, + 523.3964974162686, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 981.4029234184194, + 520.7984212049153, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 981.4029234184194, + 520.7984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 984.0009996297727, + 519.2984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 986.599075841126, + 517.7984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 989.1971520524794, + 516.2984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 991.7952282638328, + 514.7984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 994.3933044751861, + 513.2984212049153, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 996.9913806865395, + 511.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 999.5894568978929, + 510.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1002.1875331092463, + 508.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1004.7856093205996, + 507.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1007.383685531953, + 505.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1009.9817617433064, + 504.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1012.5798379546598, + 502.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1015.1779141660131, + 501.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1017.7759903773665, + 499.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1020.3740665887199, + 498.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1022.9721428000732, + 496.79842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1025.5702190114266, + 495.29842120491526, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1028.16829522278, + 493.79842120491526, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 476.0, + -9.69104 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-28-38_149798315/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-28-38_149798315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d37f00859af0eb1cbc14c64499d6c77581a41f55 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-28-38_149798315/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 692.0813239601703, + 1321.2774974242614, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 692.0813239601703, + 1321.2774974242614, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 692.0813239601703, + 1321.2774974242614, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 692.0813239601703, + 1321.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 694.6794001715236, + 1319.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 697.277476382877, + 1318.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 699.8755525942304, + 1316.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 702.4736288055838, + 1315.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 705.0717050169371, + 1313.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 707.6697812282905, + 1312.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 710.2678574396439, + 1310.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 712.8659336509972, + 1309.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 715.4640098623506, + 1307.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 718.062086073704, + 1306.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 720.6601622850574, + 1304.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 723.2582384964107, + 1303.2774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 725.8563147077641, + 1301.7774974242614, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 725.8563147077641, + 1301.7774974242614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 727.3563147077641, + 1299.179421212908, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 728.8563147077641, + 1296.5813450015546, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 730.3563147077641, + 1293.9832687902012, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 731.8563147077641, + 1291.3851925788479, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 733.3563147077641, + 1288.7871163674945, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 734.8563147077641, + 1286.1890401561411, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 736.3563147077641, + 1283.5909639447877, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 737.8563147077641, + 1280.9928877334344, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 739.3563147077641, + 1278.394811522081, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 740.8563147077641, + 1275.7967353107276, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 742.3563147077641, + 1273.1986590993743, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 742.3563147077641, + 1273.1986590993743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 744.9543909191175, + 1271.6986590993743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 747.5524671304709, + 1270.1986590993743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 750.1505433418242, + 1268.6986590993743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 752.7486195531776, + 1267.1986590993743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 755.346695764531, + 1265.6986590993743, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 755.346695764531, + 1265.6986590993743, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 755.346695764531, + 1265.6986590993743, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 755.346695764531, + 1265.6986590993743, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 1248.0, + -34.1927 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-38-0_1141616124/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-38-0_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32c43d246710ce081c0ab85cbcb147b0c0c10a59 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-38-0_1141616124/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 945.2399620274634, + 564.4198363035248, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 945.2399620274634, + 564.4198363035248, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 945.2399620274634, + 564.4198363035248, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 945.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 948.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 951.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 954.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 957.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 960.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 963.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 966.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 969.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 972.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 975.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 978.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 981.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 984.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 987.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 990.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 993.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 996.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 996.2399620274634, + 564.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 998.8380382388168, + 562.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1001.4361144501702, + 561.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1004.0341906615236, + 559.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1006.6322668728769, + 558.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1009.2303430842303, + 556.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1011.8284192955837, + 555.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1014.426495506937, + 553.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1017.0245717182904, + 552.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1019.6226479296438, + 550.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1022.2207241409972, + 549.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1024.8188003523505, + 547.9198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1027.416876563704, + 546.4198363035248, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1030.0149527750573, + 544.9198363035248, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1030.0149527750573, + 544.9198363035248, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1030.0149527750573, + 544.9198363035248, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1030.0149527750573, + 544.9198363035248, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 540.0, + -32.9472 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-41-54_150122846/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-41-54_150122846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf3d2c46aa6dcc471ab46fbc9bff5db8d89f43d7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-41-54_150122846/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1031.244018462881, + 420.0032544409375, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.744018462881, + 422.6013306522908, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1034.244018462881, + 425.19940686364413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1035.744018462881, + 427.79748307499744, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1037.244018462881, + 430.39555928635076, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1037.244018462881, + 430.39555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1039.8420946742344, + 431.89555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1042.4401708855878, + 433.39555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1045.0382470969412, + 434.89555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1047.6363233082945, + 436.39555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1050.234399519648, + 437.89555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1052.8324757310013, + 439.39555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1055.4305519423547, + 440.89555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1058.028628153708, + 442.39555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1060.6267043650614, + 443.89555928635076, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1060.6267043650614, + 443.89555928635076, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1062.1267043650614, + 446.4936354977041, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1063.6267043650614, + 449.0917117090574, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1065.1267043650614, + 451.6897879204107, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1066.6267043650614, + 454.287864131764, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.1267043650614, + 456.88594034311734, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1069.6267043650614, + 459.48401655447066, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1071.1267043650614, + 462.082092765824, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1072.6267043650614, + 464.6801689771773, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1074.1267043650614, + 467.2782451885306, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1075.6267043650614, + 469.8763213998839, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1075.6267043650614, + 469.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1075.6267043650614, + 472.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1075.6267043650614, + 475.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1075.6267043650614, + 478.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1075.6267043650614, + 481.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1075.6267043650614, + 484.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1075.6267043650614, + 487.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1075.6267043650614, + 490.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1075.6267043650614, + 493.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1075.6267043650614, + 496.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1075.6267043650614, + 499.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1075.6267043650614, + 502.8763213998839, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1075.6267043650614, + 502.8763213998839, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1075.6267043650614, + 502.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1078.2247805764148, + 504.3763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1080.8228567877682, + 505.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1083.4209329991215, + 507.3763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1086.019009210475, + 508.8763213998839, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1086.019009210475, + 508.8763213998839, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1087.519009210475, + 511.47439761123724, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1089.019009210475, + 514.0724738225906, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1104.0, + 540.0, + -27.1264 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-43-45_1231192379/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-43-45_1231192379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3bd47fe44c7519c957ca4a59159e8291169b8e7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-43-45_1231192379/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 929.5949349323798, + 262.0378566733635, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 929.5949349323798, + 259.0378566733635, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 929.5949349323798, + 256.0378566733635, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 929.5949349323798, + 253.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 929.5949349323798, + 250.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 929.5949349323798, + 247.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 929.5949349323798, + 244.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 929.5949349323798, + 241.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 929.5949349323798, + 238.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 929.5949349323798, + 235.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 929.5949349323798, + 232.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 929.5949349323798, + 229.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 929.5949349323798, + 226.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 929.5949349323798, + 223.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 929.5949349323798, + 220.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 929.5949349323798, + 217.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 929.5949349323798, + 214.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 929.5949349323798, + 211.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 929.5949349323798, + 208.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 929.5949349323798, + 205.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 929.5949349323798, + 202.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 929.5949349323798, + 199.03785667336348, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 929.5949349323798, + 199.03785667336348, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 931.0949349323798, + 196.43978046201016, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 932.5949349323798, + 193.84170425065685, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 934.0949349323798, + 191.24362803930353, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 935.5949349323798, + 188.64555182795021, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 937.0949349323798, + 186.0474756165969, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 938.5949349323798, + 183.44939940524358, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 940.0949349323798, + 180.85132319389027, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 941.5949349323798, + 178.25324698253695, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 943.0949349323798, + 175.65517077118363, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 156.0, + -29.537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-5-47_84353895/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-5-47_84353895/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ac7ce6dabc79c55b6369221e176426167e8d32c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-5-47_84353895/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1682.9937811548527, + 787.0219066010486, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1681.4937811548527, + 784.4238303896952, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1679.9937811548527, + 781.8257541783419, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-53-21_485560280/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-53-21_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef22391b25aa247672333c81d26fb197cd6f4909 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-53-21_485560280/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 851.1666643160102, + 1104.133651977112, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 851.1666643160102, + 1104.133651977112, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 851.1666643160102, + 1104.133651977112, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 851.1666643160102, + 1104.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 851.1666643160102, + 1101.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 851.1666643160102, + 1098.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 851.1666643160102, + 1095.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 851.1666643160102, + 1092.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 851.1666643160102, + 1089.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 851.1666643160102, + 1086.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 851.1666643160102, + 1083.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 851.1666643160102, + 1080.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 851.1666643160102, + 1077.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 851.1666643160102, + 1074.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 851.1666643160102, + 1071.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 851.1666643160102, + 1068.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 851.1666643160102, + 1065.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 851.1666643160102, + 1062.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 851.1666643160102, + 1059.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 851.1666643160102, + 1056.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 851.1666643160102, + 1053.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 851.1666643160102, + 1050.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 851.1666643160102, + 1047.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 851.1666643160102, + 1044.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 851.1666643160102, + 1041.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 851.1666643160102, + 1038.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 851.1666643160102, + 1035.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 851.1666643160102, + 1032.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 851.1666643160102, + 1029.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 851.1666643160102, + 1026.133651977112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 851.1666643160102, + 1023.1336519771121, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 851.1666643160102, + 1020.1336519771121, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 851.1666643160102, + 1020.1336519771121, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 851.1666643160102, + 1020.1336519771121, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 848.5685881046568, + 1018.6336519771121, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 845.9705118933034, + 1017.1336519771121, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 843.37243568195, + 1015.6336519771121, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 843.37243568195, + 1015.6336519771121, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 841.87243568195, + 1013.0355757657587, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 840.37243568195, + 1010.4374995544053, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 840.37243568195, + 1010.4374995544053, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 840.37243568195, + 1010.4374995544053, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 840.37243568195, + 1010.4374995544053, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 988.0, + -0.816864 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-59-5_1789366143/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-59-5_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb7c094e69540fd38570ffeca11ca02c0022ae0e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-59-5_1789366143/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 957.172505066192, + 188.52751054344847, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 957.172505066192, + 188.52751054344847, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 957.172505066192, + 188.52751054344847, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 957.172505066192, + 188.52751054344847, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 957.172505066192, + 188.52751054344847, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 957.172505066192, + 188.52751054344847, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 957.172505066192, + 188.52751054344847, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 957.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 954.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 951.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 948.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 945.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 942.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 939.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 936.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 933.172505066192, + 188.52751054344847, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 933.172505066192, + 188.52751054344847, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 933.172505066192, + 188.52751054344847, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 933.172505066192, + 188.52751054344847, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 933.172505066192, + 188.52751054344847, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 933.172505066192, + 188.52751054344847, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 933.172505066192, + 188.52751054344847, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 933.172505066192, + 188.52751054344847, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 840.0, + 184.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-0-14_631704567/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-0-14_631704567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a621f20d6eaca99852406e004ef848e54cbe796b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-0-14_631704567/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1462.3356531798431, + 7.21900238499029, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1462.3356531798431, + 7.21900238499029, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1462.3356531798431, + 7.21900238499029, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1462.3356531798431, + 7.21900238499029, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1460.8356531798431, + 9.817078596343606, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1459.3356531798431, + 12.415154807696922, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1457.8356531798431, + 15.013231019050238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1456.3356531798431, + 17.611307230403554, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1454.8356531798431, + 20.20938344175687, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1453.3356531798431, + 22.807459653110186, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1451.8356531798431, + 25.405535864463502, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1450.3356531798431, + 28.003612075816818, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1448.8356531798431, + 30.601688287170134, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1447.3356531798431, + 33.19976449852345, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1445.8356531798431, + 35.797840709876766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1444.3356531798431, + 38.39591692123008, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1442.8356531798431, + 40.9939931325834, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1441.3356531798431, + 43.592069343936714, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1439.8356531798431, + 46.19014555529003, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1438.3356531798431, + 48.788221766643346, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1436.8356531798431, + 51.38629797799666, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1435.3356531798431, + 53.98437418934998, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1433.8356531798431, + 56.582450400703294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1432.3356531798431, + 59.18052661205661, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1430.8356531798431, + 61.778602823409926, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1429.3356531798431, + 64.37667903476324, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1427.8356531798431, + 66.97475524611656, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1426.3356531798431, + 69.57283145746987, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1426.3356531798431, + 69.57283145746987, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1426.3356531798431, + 72.57283145746987, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1426.3356531798431, + 75.57283145746987, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1426.3356531798431, + 78.57283145746987, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1426.3356531798431, + 81.57283145746987, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1426.3356531798431, + 81.57283145746987, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1426.3356531798431, + 81.57283145746987, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1426.3356531798431, + 81.57283145746987, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 140.0, + -29.4592 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-13-40_968338082/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-13-40_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6b9f42ab66a1891a919e43dc3f189bfd4a1990e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-13-40_968338082/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 973.3644851603361, + 113.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 975.9625613716894, + 112.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 978.5606375830428, + 110.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 981.1587137943961, + 109.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 983.7567900057495, + 107.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 986.3548662171029, + 106.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 988.9529424284563, + 104.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 991.5510186398096, + 103.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 994.149094851163, + 101.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 996.7471710625164, + 100.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 999.3452472738697, + 98.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1001.9433234852231, + 97.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1004.5413996965765, + 95.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1007.1394759079299, + 94.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1009.7375521192832, + 92.70076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1012.3356283306366, + 91.20076467525539, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1012.3356283306366, + 91.20076467525539, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1013.8356283306366, + 88.60268846390207, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1015.3356283306366, + 86.00461225254875, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1016.8356283306366, + 83.40653604119544, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1018.3356283306366, + 80.80845982984212, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1019.8356283306366, + 78.2103836184888, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1021.3356283306366, + 75.61230740713549, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1022.8356283306366, + 73.01423119578217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1024.3356283306366, + 70.41615498442886, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1025.8356283306366, + 67.81807877307554, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1027.3356283306366, + 65.22000256172223, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1028.8356283306366, + 62.62192635036891, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1030.3356283306366, + 60.02385013901559, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 44.0, + -29.242 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-2-20_1432114613/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-2-20_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8752eab3d75b552f004b3ebe535f1d02bc625d7f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-2-20_1432114613/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 719.4390790243892, + 634.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 719.4390790243892, + 637.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 719.4390790243892, + 640.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 719.4390790243892, + 643.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 719.4390790243892, + 646.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 719.4390790243892, + 649.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 719.4390790243892, + 652.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 719.4390790243892, + 655.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 719.4390790243892, + 658.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 719.4390790243892, + 661.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 719.4390790243892, + 664.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 719.4390790243892, + 667.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 719.4390790243892, + 670.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 719.4390790243892, + 673.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 719.4390790243892, + 676.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 719.4390790243892, + 679.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 719.4390790243892, + 682.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 719.4390790243892, + 685.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 719.4390790243892, + 688.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 719.4390790243892, + 691.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 719.4390790243892, + 694.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 719.4390790243892, + 697.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 719.4390790243892, + 700.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 719.4390790243892, + 703.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 719.4390790243892, + 706.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 719.4390790243892, + 709.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 719.4390790243892, + 712.9481790820217, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 719.4390790243892, + 712.9481790820217, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 719.4390790243892, + 712.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 722.0371552357426, + 714.4481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 724.635231447096, + 715.9481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 727.2333076584493, + 717.4481790820217, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 727.2333076584493, + 717.4481790820217, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 728.7333076584493, + 720.046255293375, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 730.2333076584493, + 722.6443315047284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 731.7333076584493, + 725.2424077160817, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 733.2333076584493, + 727.8404839274351, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 734.7333076584493, + 730.4385601387885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 736.2333076584493, + 733.0366363501419, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 737.7333076584493, + 735.6347125614952, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 739.2333076584493, + 738.2327887728486, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 740.7333076584493, + 740.830864984202, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 742.2333076584493, + 743.4289411955554, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 743.7333076584493, + 746.0270174069087, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 745.2333076584493, + 748.6250936182621, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 746.7333076584493, + 751.2231698296155, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 748.2333076584493, + 753.8212460409688, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 752.0, + 780.0, + -30.1345 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-24-46_1789366143/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-24-46_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..481e8db8078b374a8a9232fb52c02b139ff5f285 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-24-46_1789366143/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1856.349904618011, + 691.9702914397811, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1856.349904618011, + 691.9702914397811, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1856.349904618011, + 691.9702914397811, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1856.349904618011, + 691.9702914397811, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1857.849904618011, + 694.5683676511344, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1859.349904618011, + 697.1664438624878, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1860.849904618011, + 699.7645200738411, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1862.349904618011, + 702.3625962851945, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1863.849904618011, + 704.9606724965479, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1865.349904618011, + 707.5587487079013, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1866.849904618011, + 710.1568249192546, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1868.349904618011, + 712.754901130608, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1869.849904618011, + 715.3529773419614, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1871.349904618011, + 717.9510535533148, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1872.849904618011, + 720.5491297646681, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1874.349904618011, + 723.1472059760215, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1875.849904618011, + 725.7452821873749, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1877.349904618011, + 728.3433583987282, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1878.849904618011, + 730.9414346100816, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1880.349904618011, + 733.539510821435, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1881.849904618011, + 736.1375870327884, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1883.349904618011, + 738.7356632441417, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1884.849904618011, + 741.3337394554951, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1886.349904618011, + 743.9318156668485, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1886.349904618011, + 743.9318156668485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1888.9479808293643, + 745.4318156668485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1891.5460570407176, + 746.9318156668485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1894.144133252071, + 748.4318156668485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1896.7422094634244, + 749.9318156668485, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1896.7422094634244, + 749.9318156668485, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1896.7422094634244, + 749.9318156668485, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1896.7422094634244, + 749.9318156668485, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-27-33_1432114613/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-27-33_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4140adc1b79422b0d6727422350e7834d1349e0a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-27-33_1432114613/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1388.8557870766176, + 858.2010010290298, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1388.8557870766176, + 858.2010010290298, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.8557870766176, + 858.2010010290298, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1388.8557870766176, + 858.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1386.2577108652642, + 859.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1383.6596346539109, + 861.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1381.0615584425575, + 862.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1378.4634822312041, + 864.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1375.8654060198508, + 865.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1373.2673298084974, + 867.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1370.669253597144, + 868.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1368.0711773857906, + 870.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1365.4731011744373, + 871.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1362.875024963084, + 873.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1360.2769487517305, + 874.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1357.6788725403771, + 876.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1355.0807963290238, + 877.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1352.4827201176704, + 879.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1349.884643906317, + 880.7010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1347.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1347.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1344.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1341.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1338.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1335.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1332.2865676949637, + 882.2010010290298, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1332.2865676949637, + 882.2010010290298, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1332.2865676949637, + 882.2010010290298, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1332.2865676949637, + 882.2010010290298, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1296.0, + 896.0, + 0.734581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-30-50_492067917/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-30-50_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..792b08b8eb29b9dd0434b70195a516a80cb25a0b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-30-50_492067917/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 497.5125086343339, + 742.3606330067493, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 497.5125086343339, + 742.3606330067493, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 497.5125086343339, + 742.3606330067493, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 497.5125086343339, + 742.3606330067493, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 499.0125086343339, + 739.762556795396, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 500.5125086343339, + 737.1644805840426, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 502.0125086343339, + 734.5664043726892, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 503.5125086343339, + 731.9683281613359, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 505.0125086343339, + 729.3702519499825, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 506.5125086343339, + 726.7721757386291, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 508.0125086343339, + 724.1740995272758, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 509.5125086343339, + 721.5760233159224, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 511.0125086343339, + 718.977947104569, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 512.5125086343339, + 716.3798708932156, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 514.0125086343339, + 713.7817946818623, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 515.5125086343339, + 711.1837184705089, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 517.0125086343339, + 708.5856422591555, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 518.5125086343339, + 705.9875660478021, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 520.0125086343339, + 703.3894898364488, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 521.5125086343339, + 700.7914136250954, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 523.0125086343339, + 698.193337413742, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 524.5125086343339, + 695.5952612023887, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 526.0125086343339, + 692.9971849910353, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 527.5125086343339, + 690.3991087796819, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 529.0125086343339, + 687.8010325683285, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 530.5125086343339, + 685.2029563569752, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 532.0125086343339, + 682.6048801456218, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 533.5125086343339, + 680.0068039342684, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 535.0125086343339, + 677.408727722915, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 536.5125086343339, + 674.8106515115617, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 538.0125086343339, + 672.2125753002083, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 538.0125086343339, + 672.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 538.0125086343339, + 669.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 538.0125086343339, + 666.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 538.0125086343339, + 663.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 538.0125086343339, + 660.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 538.0125086343339, + 657.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 538.0125086343339, + 654.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 538.0125086343339, + 651.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 538.0125086343339, + 648.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 538.0125086343339, + 645.2125753002083, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 538.0125086343339, + 645.2125753002083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 539.5125086343339, + 642.6144990888549, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 539.5125086343339, + 642.6144990888549, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 539.5125086343339, + 642.6144990888549, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 539.5125086343339, + 642.6144990888549, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + 624.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-31-55_706043324/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-31-55_706043324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad23c8212a69aada8e75655eadc5b78f629d4a1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-31-55_706043324/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -136.48998710603223, + -180.35207645819807, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -136.48998710603223, + -180.35207645819807, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -136.48998710603223, + -180.35207645819807, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -136.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -133.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -130.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -124.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -121.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.48998710603223, + -180.35207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -118.89191089467892, + -178.85207645819807, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -118.89191089467892, + -178.85207645819807, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -117.39191089467892, + -176.25400024684475, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -115.89191089467892, + -173.65592403549144, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -114.39191089467892, + -171.05784782413812, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.89191089467892, + -168.4597716127848, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -111.39191089467892, + -165.8616954014315, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -111.39191089467892, + -165.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -108.7938346833256, + -164.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -106.19575847197228, + -162.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -103.59768226061897, + -161.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -100.99960604926565, + -159.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.40152983791234, + -158.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -95.80345362655902, + -156.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.2053774152057, + -155.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -90.60730120385239, + -153.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -88.00922499249907, + -152.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -85.41114878114576, + -150.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -82.81307256979244, + -149.3616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -80.21499635843912, + -147.8616954014315, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -80.21499635843912, + -147.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -77.21499635843912, + -147.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -74.21499635843912, + -147.8616954014315, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -71.21499635843912, + -147.8616954014315, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -71.21499635843912, + -147.8616954014315, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -71.21499635843912, + -147.8616954014315, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -71.21499635843912, + -147.8616954014315, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + -128.0, + -27.9559 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-32-45_1665947468/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-32-45_1665947468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85605ddcb35bf92e879a11becc3b7dd95e7c7a80 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-32-45_1665947468/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -56.71805640516972, + -218.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -53.71805640516972, + -218.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -50.71805640516972, + -218.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -47.71805640516972, + -218.74769282967634, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -47.71805640516972, + -218.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -45.1199801938164, + -217.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -42.52190398246309, + -215.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -39.92382777110977, + -214.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -37.325751559756455, + -212.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -34.72767534840314, + -211.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -32.12959913704982, + -209.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -29.531522925696507, + -208.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -26.93344671434319, + -206.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -24.335370502989875, + -205.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -21.73729429163656, + -203.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -19.139218080283243, + -202.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -16.541141868929927, + -200.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -13.94306565757661, + -199.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -11.344989446223295, + -197.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.746913234869979, + -196.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -6.148837023516663, + -194.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -3.5507608121633467, + -193.24769282967634, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -3.5507608121633467, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -0.5507608121633467, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2.4492391878366533, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 5.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 8.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 11.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 14.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 17.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 20.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 23.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 26.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 29.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 29.449239187836653, + -193.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 32.04731539918997, + -191.74769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 34.645391610543285, + -190.24769282967634, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 37.2434678218966, + -188.74769282967634, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.0, + -184.0, + -30.1347 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-36-24_1012502954/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-36-24_1012502954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52ba5b2f3de7b8ffe96b09aa5ef350f0b0a25c67 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-36-24_1012502954/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 631.8804628773041, + 224.178898763377, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 631.8804628773041, + 224.178898763377, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 631.8804628773041, + 224.178898763377, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 631.8804628773041, + 224.178898763377, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 630.3804628773041, + 221.58082255202368, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 628.8804628773041, + 218.98274634067036, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 627.3804628773041, + 216.38467012931704, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 625.8804628773041, + 213.78659391796373, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 624.3804628773041, + 211.1885177066104, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 622.8804628773041, + 208.5904414952571, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 621.3804628773041, + 205.99236528390378, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 619.8804628773041, + 203.39428907255046, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 618.3804628773041, + 200.79621286119715, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 616.8804628773041, + 198.19813664984383, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 615.3804628773041, + 195.60006043849052, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 613.8804628773041, + 193.0019842271372, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 612.3804628773041, + 190.40390801578388, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 610.8804628773041, + 187.80583180443057, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 609.3804628773041, + 185.20775559307725, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 607.8804628773041, + 182.60967938172394, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 606.3804628773041, + 180.01160317037062, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 604.8804628773041, + 177.4135269590173, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 603.3804628773041, + 174.815450747664, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 601.8804628773041, + 172.21737453631067, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 600.3804628773041, + 169.61929832495736, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 598.8804628773041, + 167.02122211360404, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 597.3804628773041, + 164.42314590225072, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 595.8804628773041, + 161.8250696908974, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 594.3804628773041, + 159.2269934795441, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 592.8804628773041, + 156.62891726819078, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 591.3804628773041, + 154.03084105683746, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 589.8804628773041, + 151.43276484548414, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 588.3804628773041, + 148.83468863413083, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 586.8804628773041, + 146.2366124227775, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 585.3804628773041, + 143.6385362114242, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 585.3804628773041, + 143.6385362114242, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 582.7823866659508, + 142.1385362114242, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 582.7823866659508, + 142.1385362114242, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 582.7823866659508, + 142.1385362114242, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 582.7823866659508, + 142.1385362114242, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-39-23_740759355/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-39-23_740759355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec73a5931700aa2960dfb45d7716c7ca9a137db7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-39-23_740759355/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 959.1228111706095, + 961.4305826521152, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 959.1228111706095, + 961.4305826521152, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 959.1228111706095, + 961.4305826521152, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 959.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 956.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 953.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 950.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 947.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 944.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 938.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 935.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 932.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 929.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 926.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 923.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 920.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 917.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 914.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 911.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 908.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 905.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 902.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 899.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 896.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 893.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 890.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 887.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 884.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 881.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 878.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 878.1228111706095, + 961.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 875.5247349592562, + 962.9305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 872.9266587479028, + 964.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 870.3285825365494, + 965.9305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 867.7305063251961, + 967.4305826521152, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 867.7305063251961, + 967.4305826521152, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 866.2305063251961, + 970.0286588634685, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 864.7305063251961, + 972.6267350748219, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 863.2305063251961, + 975.2248112861753, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 861.7305063251961, + 977.8228874975287, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 860.2305063251961, + 980.420963708882, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 860.2305063251961, + 980.420963708882, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 860.2305063251961, + 980.420963708882, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 860.2305063251961, + 980.420963708882, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 988.0, + -0.816864 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-42-5_654887343/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-42-5_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..524a8d456d2c33929928eecccc21d2260fdfc1a2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-42-5_654887343/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1392.4375047848405, + 611.1388500569569, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1392.4375047848405, + 611.1388500569569, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1392.4375047848405, + 611.1388500569569, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.4375047848405, + 611.1388500569569, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1395.0355809961939, + 609.6388500569569, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1397.6336572075472, + 608.1388500569569, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1400.2317334189006, + 606.6388500569569, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1400.2317334189006, + 606.6388500569569, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1401.7317334189006, + 604.0407738456036, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1403.2317334189006, + 601.4426976342502, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1404.7317334189006, + 598.8446214228968, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1406.2317334189006, + 596.2465452115434, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1407.7317334189006, + 593.6484690001901, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1409.2317334189006, + 591.0503927888367, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1410.7317334189006, + 588.4523165774833, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1412.2317334189006, + 585.8542403661299, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1413.7317334189006, + 583.2561641547766, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1413.7317334189006, + 583.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1413.7317334189006, + 580.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1413.7317334189006, + 577.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1413.7317334189006, + 574.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1413.7317334189006, + 571.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1413.7317334189006, + 568.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.7317334189006, + 565.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1413.7317334189006, + 562.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1413.7317334189006, + 559.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1413.7317334189006, + 556.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1413.7317334189006, + 553.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1413.7317334189006, + 550.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1413.7317334189006, + 547.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1413.7317334189006, + 544.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1413.7317334189006, + 541.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1413.7317334189006, + 538.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1413.7317334189006, + 535.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1413.7317334189006, + 532.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1413.7317334189006, + 529.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1413.7317334189006, + 526.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1413.7317334189006, + 523.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1413.7317334189006, + 520.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1413.7317334189006, + 517.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1413.7317334189006, + 514.2561641547766, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1413.7317334189006, + 511.25616415477657, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1413.7317334189006, + 508.25616415477657, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1413.7317334189006, + 505.25616415477657, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1413.7317334189006, + 502.25616415477657, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1413.7317334189006, + 502.25616415477657, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1413.7317334189006, + 502.25616415477657, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1413.7317334189006, + 502.25616415477657, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + 484.0, + -10.4725 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-44-40_1069755936/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-44-40_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93cde74016cb13d3dcb362c08fe560c32097bd75 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-44-40_1069755936/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 269.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 272.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 275.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 278.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 284.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 287.0735308391792, + 130.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 289.67160705053254, + 131.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 292.26968326188586, + 133.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 294.8677594732392, + 134.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.4658356845925, + 136.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 300.0639118959458, + 137.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 302.6619881072991, + 139.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.26006431865244, + 140.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 307.85814053000576, + 142.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.45621674135907, + 143.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 313.0542929527124, + 145.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 315.6523691640657, + 146.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 318.250445375419, + 148.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.84852158677234, + 149.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.44659779812565, + 151.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 326.04467400947897, + 152.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 328.6427502208323, + 154.38815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 331.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 331.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 334.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 337.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 340.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 343.2408264321856, + 155.88815358561413, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-47-4_1346811305/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-47-4_1346811305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cbe28d3c32c28ee19313f50bf64d8f165c9d2f1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-47-4_1346811305/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1464.3107601803706, + 22.61473263860511, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1464.3107601803706, + 22.61473263860511, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1464.3107601803706, + 22.61473263860511, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1464.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1467.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1470.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1473.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1476.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1476.3107601803706, + 22.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1478.908836391724, + 24.11473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1481.5069126030774, + 25.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1484.1049888144307, + 27.11473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1486.703065025784, + 28.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1489.3011412371375, + 30.11473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1491.8992174484908, + 31.61473263860511, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1494.4972936598442, + 33.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982884 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1497.0953698711976, + 34.614732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1499.693446082551, + 36.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1502.2915222939043, + 37.614732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1504.8895985052577, + 39.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1507.487674716611, + 40.614732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1510.0857509279645, + 42.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1512.6838271393178, + 43.614732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1515.2819033506712, + 45.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1517.8799795620246, + 46.614732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1520.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1520.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1523.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1526.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1529.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1532.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1535.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1538.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1541.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1544.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1547.478055773378, + 48.114732638605105, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1547.478055773378, + 48.114732638605105, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1547.478055773378, + 48.114732638605105, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1547.478055773378, + 48.114732638605105, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + 52.0, + -29.3652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-50-40_1057467587/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-50-40_1057467587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6c67a7d7a38428f37d51a7b70544924d26382dd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-50-40_1057467587/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1175.085568890033, + 617.2239906979003, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1173.585568890033, + 619.8220669092536, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1172.085568890033, + 622.420143120607, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1170.585568890033, + 625.0182193319604, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1169.085568890033, + 627.6162955433138, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1167.585568890033, + 630.2143717546671, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1166.085568890033, + 632.8124479660205, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1164.585568890033, + 635.4105241773739, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1163.085568890033, + 638.0086003887272, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1161.585568890033, + 640.6066766000806, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1160.085568890033, + 643.204752811434, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1158.585568890033, + 645.8028290227874, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1157.085568890033, + 648.4009052341407, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1155.585568890033, + 650.9989814454941, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1154.085568890033, + 653.5970576568475, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1152.585568890033, + 656.1951338682009, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1152.585568890033, + 656.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1149.9874926786797, + 657.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1147.3894164673263, + 659.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1144.791340255973, + 660.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1142.1932640446196, + 662.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1139.5951878332662, + 663.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1136.9971116219128, + 665.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1134.3990354105595, + 666.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1131.800959199206, + 668.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1129.2028829878527, + 669.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1126.6048067764993, + 671.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1124.006730565146, + 672.6951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1121.4086543537926, + 674.1951338682009, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1118.8105781424392, + 675.6951338682009, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc72adc766472636af406f01b61b6c0cb93adbd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3.7422558691112933, + 232.82550760364367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2.242255869111294, + 235.423583814997, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 0.7422558691112948, + 238.0216600263503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -0.7577441308887045, + 240.61973623770362, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.257744130888704, + 243.21781244905694, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -3.757744130888703, + 245.81588866041025, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -5.257744130888702, + 248.41396487176357, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -6.757744130888701, + 251.01204108311688, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.257744130888701, + 253.6101172944702, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.757744130888701, + 256.2081935058235, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -11.257744130888701, + 258.8062697171768, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -12.757744130888701, + 261.4043459285301, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -14.257744130888701, + 264.00242213988344, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -15.757744130888701, + 266.60049835123675, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -15.757744130888701, + 266.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.757744130888701, + 269.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.757744130888701, + 272.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -15.757744130888701, + 275.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.757744130888701, + 278.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -15.757744130888701, + 281.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -15.757744130888701, + 284.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -15.757744130888701, + 287.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -15.757744130888701, + 290.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -15.757744130888701, + 293.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -15.757744130888701, + 296.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -15.757744130888701, + 299.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.757744130888701, + 302.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -15.757744130888701, + 305.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -15.757744130888701, + 308.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -15.757744130888701, + 311.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -15.757744130888701, + 314.60049835123675, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -15.757744130888701, + 317.60049835123675, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-58-53_555996658/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-58-53_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c33c0bfdd8b64f6baa69e68377ddd44950532ceb --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-58-53_555996658/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -33.787630133987804, + -446.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -33.787630133987804, + -443.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -33.787630133987804, + -440.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.787630133987804, + -437.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -33.787630133987804, + -434.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -33.787630133987804, + -431.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.787630133987804, + -428.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -33.787630133987804, + -425.7999220956238, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -33.787630133987804, + -425.7999220956238, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -32.287630133987804, + -423.2018458842705, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -30.787630133987804, + -420.60376967291717, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -29.287630133987804, + -418.00569346156385, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -27.787630133987804, + -415.40761725021054, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -26.287630133987804, + -412.8095410388572, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -24.787630133987804, + -410.2114648275039, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.0, + -312.0, + -29.9979 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-7-31_706043324/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-7-31_706043324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1da2577d5094f02dc4ab7aecc719f9c06c4525f8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-7-31_706043324/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 992.7625207715519, + 698.5722264396395, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 991.2625207715519, + 695.9741502282861, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 989.7625207715519, + 693.3760740169328, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 988.2625207715519, + 690.7779978055794, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 986.7625207715519, + 688.179921594226, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 985.2625207715519, + 685.5818453828726, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 983.7625207715519, + 682.9837691715193, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 983.7625207715519, + 682.9837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 981.1644445601985, + 681.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 978.5663683488451, + 679.9837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 975.9682921374917, + 678.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 973.3702159261384, + 676.9837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 970.772139714785, + 675.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 968.1740635034316, + 673.9837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 965.5759872920783, + 672.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 962.9779110807249, + 670.9837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 960.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 960.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 957.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 954.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 951.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 948.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 945.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 942.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 939.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 936.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 933.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 930.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 927.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 924.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 921.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 918.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 915.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 912.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 909.3798348693715, + 669.4837691715193, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 660.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-52-1_861021530/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-52-1_861021530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7ab89d7e3c9d404dc91cb612f06e6767891462f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-52-1_861021530/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 839.462695803389, + 785.7368100668099, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 839.462695803389, + 785.7368100668099, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 839.462695803389, + 785.7368100668099, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 839.462695803389, + 785.7368100668099, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 839.462695803389, + 785.7368100668099, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 839.462695803389, + 785.7368100668099, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 839.462695803389, + 785.7368100668099, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 839.462695803389, + 785.7368100668099, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 839.462695803389, + 785.7368100668099, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 839.462695803389, + 785.7368100668099, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 839.462695803389, + 785.7368100668099, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 840.962695803389, + 783.1387338554566, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 842.462695803389, + 780.5406576441032, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 843.962695803389, + 777.9425814327499, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 845.462695803389, + 775.3445052213965, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 846.962695803389, + 772.7464290100431, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 848.462695803389, + 770.1483527986898, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 849.962695803389, + 767.5502765873364, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 851.462695803389, + 764.952200375983, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 852.962695803389, + 762.3541241646296, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 854.462695803389, + 759.7560479532763, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 855.962695803389, + 757.1579717419229, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 857.462695803389, + 754.5598955305695, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 858.962695803389, + 751.9618193192161, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 860.462695803389, + 749.3637431078628, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 861.962695803389, + 746.7656668965094, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 863.462695803389, + 744.167590685156, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 864.962695803389, + 741.5695144738027, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 866.462695803389, + 738.9714382624493, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 867.962695803389, + 736.3733620510959, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 869.462695803389, + 733.7752858397425, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 870.962695803389, + 731.1772096283892, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 872.462695803389, + 728.5791334170358, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 873.962695803389, + 725.9810572056824, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 875.462695803389, + 723.382980994329, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 876.962695803389, + 720.7849047829757, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 878.462695803389, + 718.1868285716223, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 879.962695803389, + 715.5887523602689, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 879.962695803389, + 715.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 879.962695803389, + 712.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 879.962695803389, + 709.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 879.962695803389, + 706.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 879.962695803389, + 703.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 879.962695803389, + 700.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 879.962695803389, + 697.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 879.962695803389, + 694.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 879.962695803389, + 691.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 879.962695803389, + 688.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 879.962695803389, + 685.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 879.962695803389, + 682.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 879.962695803389, + 679.5887523602689, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 879.962695803389, + 676.5887523602689, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 879.962695803389, + 676.5887523602689, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 879.962695803389, + 676.5887523602689, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 879.962695803389, + 676.5887523602689, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 879.962695803389, + 676.5887523602689, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 879.962695803389, + 676.5887523602689, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 879.962695803389, + 676.5887523602689, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 879.962695803389, + 676.5887523602689, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 879.962695803389, + 676.5887523602689, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 879.962695803389, + 676.5887523602689, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 879.962695803389, + 676.5887523602689, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 660.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-54-33_1101513929/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-54-33_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03a493fc042942ac618da6e109d5f378183785e5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-54-33_1101513929/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1019.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1022.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1025.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1028.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1031.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1034.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1037.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1040.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1043.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1046.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1049.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1052.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1055.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1058.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1061.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1064.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1067.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1070.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1073.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1076.4868650270291, + 147.6567582804857, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-55-15_1315634022/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-55-15_1315634022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72db4343b3fce3b9fad04897a9bcad88ecf53d5d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_11-55-15_1315634022/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 153.5109554146957, + -95.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.91287920334238, + -93.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.31480299198907, + -92.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.71672678063575, + -90.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 143.11865056928244, + -89.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 140.52057435792912, + -87.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 137.9224981465758, + -86.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 135.3244219352225, + -84.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 132.72634572386917, + -83.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 130.12826951251586, + -81.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.53019330116254, + -80.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 124.93211708980922, + -78.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 122.33404087845591, + -77.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 119.73596466710259, + -75.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 117.13788845574928, + -74.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 114.53981224439596, + -72.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 111.94173603304264, + -71.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 109.34365982168933, + -69.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 106.74558361033601, + -68.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 104.1475073989827, + -66.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 101.54943118762938, + -65.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 98.95135497627606, + -63.85670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 96.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 96.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 93.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 90.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 87.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 84.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 81.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 78.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 75.35327876492275, + -62.35670851032542, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-10-6_572660336/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-10-6_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2aca43d525eeceb9cccb548754bb9c18f8d4513 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-10-6_572660336/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 672.2109382994406, + 241.29248939501045, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 673.7109382994406, + 238.69441318365713, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 675.2109382994406, + 236.09633697230382, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 676.7109382994406, + 233.4982607609505, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 678.2109382994406, + 230.90018454959718, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 679.7109382994406, + 228.30210833824387, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 681.2109382994406, + 225.70403212689055, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 682.7109382994406, + 223.10595591553724, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 684.2109382994406, + 220.50787970418392, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 685.7109382994406, + 217.9098034928306, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 687.2109382994406, + 215.3117272814773, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 688.7109382994406, + 212.71365107012397, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 690.2109382994406, + 210.11557485877066, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 691.7109382994406, + 207.51749864741734, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 693.2109382994406, + 204.91942243606402, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 694.7109382994406, + 202.3213462247107, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 696.2109382994406, + 199.7232700133574, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 697.7109382994406, + 197.12519380200408, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 699.2109382994406, + 194.52711759065076, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 700.7109382994406, + 191.92904137929744, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 702.2109382994406, + 189.33096516794413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 703.7109382994406, + 186.7328889565908, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 705.2109382994406, + 184.1348127452375, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 705.2109382994406, + 184.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 707.809014510794, + 182.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 710.4070907221474, + 181.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 713.0051669335007, + 179.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 715.6032431448541, + 178.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 718.2013193562075, + 176.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 720.7993955675609, + 175.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 723.3974717789142, + 173.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 725.9955479902676, + 172.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 728.593624201621, + 170.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 731.1917004129743, + 169.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 733.7897766243277, + 167.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 736.3878528356811, + 166.1348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 738.9859290470345, + 164.6348127452375, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 738.9859290470345, + 164.6348127452375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 740.4859290470345, + 162.03673653388418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 741.9859290470345, + 159.43866032253086, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 760.0, + 140.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-26-38_1036140795/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-26-38_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c897d883e12d0e907ef8bd2e09612660b186a536 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-26-38_1036140795/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 622.123363211233, + -256.74636930598297, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 622.123363211233, + -256.74636930598297, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 622.123363211233, + -256.74636930598297, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 622.123363211233, + -256.74636930598297, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 622.123363211233, + -256.74636930598297, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 622.123363211233, + -256.74636930598297, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 622.123363211233, + -256.74636930598297, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 622.123363211233, + -256.74636930598297, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 622.123363211233, + -256.74636930598297, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 622.123363211233, + -256.74636930598297, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 622.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 625.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 628.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 631.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 634.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 637.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 640.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 643.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 646.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 649.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 652.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 655.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 658.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 661.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 664.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 667.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 670.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 673.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 676.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 679.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 682.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 685.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 688.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 691.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 694.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 697.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 700.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 703.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 706.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 709.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 712.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 715.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 718.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 721.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 724.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 724.123363211233, + -256.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 726.7214394225864, + -258.24636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 729.3195156339398, + -259.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 731.9175918452931, + -261.24636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 734.5156680566465, + -262.74636930598297, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 737.1137442679999, + -264.24636930598297, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 756.0, + -268.0, + -26.6135 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-52-43_439493451/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-52-43_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de9a75cdabe90be6a19b350d3b15cca3c0734a63 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_12-52-43_439493451/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -189.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -186.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -183.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -180.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -174.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -156.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -153.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -150.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -147.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -144.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -141.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -141.47628729344626, + -234.42608703647727, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -139.97628729344626, + -237.0241632478306, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -138.47628729344626, + -239.6222394591839, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -136.97628729344626, + -242.22031567053722, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -135.47628729344626, + -244.81839188189053, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -133.97628729344626, + -247.41646809324385, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -133.97628729344626, + -247.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -131.37821108209295, + -248.91646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -128.78013487073963, + -250.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -126.18205865938631, + -251.91646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -123.583982448033, + -253.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -120.98590623667968, + -254.91646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -118.38783002532637, + -256.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -115.78975381397305, + -257.91646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -113.19167760261973, + -259.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -110.59360139126642, + -260.91646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -107.9955251799131, + -262.41646809324385, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -105.39744896855979, + -263.91646809324385, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -84.0, + -268.0, + -1.1313 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-11-54_1784639529/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-11-54_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98801bd7fb28db6f3f56a45f286ac75461ca87e6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-11-54_1784639529/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1480.6177981020985, + 355.0298800881046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1479.1177981020985, + 357.62795629945794, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1477.6177981020985, + 360.22603251081125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1476.1177981020985, + 362.82410872216457, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1474.6177981020985, + 365.4221849335179, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1473.1177981020985, + 368.0202611448712, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1471.6177981020985, + 370.6183373562245, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1470.1177981020985, + 373.21641356757783, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1468.6177981020985, + 375.81448977893115, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1467.1177981020985, + 378.41256599028446, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1465.6177981020985, + 381.0106422016378, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1464.1177981020985, + 383.6087184129911, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1462.6177981020985, + 386.2067946243444, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1461.1177981020985, + 388.8048708356977, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1459.6177981020985, + 391.40294704705104, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1458.1177981020985, + 394.00102325840436, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1456.6177981020985, + 396.5990994697577, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1455.1177981020985, + 399.197175681111, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.6177981020985, + 401.7952518924643, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1452.1177981020985, + 404.3933281038176, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1450.6177981020985, + 406.99140431517094, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1449.1177981020985, + 409.58948052652426, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1447.6177981020985, + 412.18755673787757, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1446.1177981020985, + 414.7856329492309, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1444.6177981020985, + 417.3837091605842, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1443.1177981020985, + 419.9817853719375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1441.6177981020985, + 422.57986158329084, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1440.1177981020985, + 425.17793779464415, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1438.6177981020985, + 427.77601400599747, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1438.6177981020985, + 427.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1438.6177981020985, + 430.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1438.6177981020985, + 433.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1438.6177981020985, + 436.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1438.6177981020985, + 439.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1438.6177981020985, + 442.77601400599747, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1438.6177981020985, + 445.77601400599747, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + 484.0, + -10.4725 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-23-5_601385644/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-23-5_601385644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d2e287c4e9aa0a4d5f9bdfc97845979ddd89e2a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-23-5_601385644/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1106.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1109.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1112.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1115.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1118.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1121.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1124.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1127.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1130.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1130.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1130.632365095038, + 933.5613267937917, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1132.132365095038, + 930.9632505824384, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1133.632365095038, + 928.365174371085, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1135.132365095038, + 925.7670981597316, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1136.632365095038, + 923.1690219483783, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1138.132365095038, + 920.5709457370249, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1139.632365095038, + 917.9728695256715, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1141.132365095038, + 915.3747933143181, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1142.632365095038, + 912.7767171029648, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 876.0, + 1.28005 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-24-15_243268139/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-24-15_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08f2fbc887155f97b06bd0341b1ec4aa223a3c27 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-24-15_243268139/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1656.9661092054678, + 966.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1656.9661092054678, + 963.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1656.9661092054678, + 960.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1656.9661092054678, + 957.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1656.9661092054678, + 954.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1656.9661092054678, + 951.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1656.9661092054678, + 948.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1656.9661092054678, + 945.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1656.9661092054678, + 942.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1656.9661092054678, + 939.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1656.9661092054678, + 936.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1656.9661092054678, + 933.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1656.9661092054678, + 930.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1656.9661092054678, + 927.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1656.9661092054678, + 924.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1656.9661092054678, + 921.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1656.9661092054678, + 918.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1656.9661092054678, + 915.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1656.9661092054678, + 912.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1656.9661092054678, + 909.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1656.9661092054678, + 906.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1656.9661092054678, + 903.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1656.9661092054678, + 900.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1656.9661092054678, + 897.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1656.9661092054678, + 894.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1656.9661092054678, + 891.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1656.9661092054678, + 888.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1656.9661092054678, + 885.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1656.9661092054678, + 882.178664626957, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1656.9661092054678, + 879.178664626957, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 836.0, + -29.4139 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-30-4_1450573622/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-30-4_1450573622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..321ba01371018838e12045322798e6493490a994 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-30-4_1450573622/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1710.4985007512032, + 648.7794590673718, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1708.9985007512032, + 651.3775352787252, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1707.4985007512032, + 653.9756114900786, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1705.9985007512032, + 656.5736877014319, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1704.4985007512032, + 659.1717639127853, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1702.9985007512032, + 661.7698401241387, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1701.4985007512032, + 664.367916335492, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1699.9985007512032, + 666.9659925468454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1698.4985007512032, + 669.5640687581988, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1696.9985007512032, + 672.1621449695522, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1695.4985007512032, + 674.7602211809055, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1693.9985007512032, + 677.3582973922589, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1692.4985007512032, + 679.9563736036123, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1690.9985007512032, + 682.5544498149657, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1689.4985007512032, + 685.152526026319, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1687.9985007512032, + 687.7506022376724, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1686.4985007512032, + 690.3486784490258, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1684.9985007512032, + 692.9467546603792, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1683.4985007512032, + 695.5448308717325, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1681.9985007512032, + 698.1429070830859, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1680.4985007512032, + 700.7409832944393, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1678.9985007512032, + 703.3390595057926, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1678.9985007512032, + 703.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1678.9985007512032, + 706.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1678.9985007512032, + 709.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1678.9985007512032, + 712.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1678.9985007512032, + 715.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1678.9985007512032, + 718.3390595057926, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1678.9985007512032, + 721.3390595057926, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + 780.0, + -29.242 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-34-26_1447267605/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-34-26_1447267605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa080c43ad2b61639a2bfbb7df100b59370b3269 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-34-26_1447267605/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1907.9048259684168, + 385.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1905.3067497570635, + 387.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1902.70867354571, + 388.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1900.1105973343567, + 390.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1897.5125211230034, + 391.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1894.91444491165, + 393.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1892.3163687002966, + 394.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1889.7182924889432, + 396.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1887.1202162775899, + 397.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1884.5221400662365, + 399.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1881.9240638548831, + 400.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1879.3259876435297, + 402.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1876.7279114321764, + 403.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1874.129835220823, + 405.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1871.5317590094696, + 406.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1868.9336827981163, + 408.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1866.3356065867629, + 409.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1863.7375303754095, + 411.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1861.1394541640561, + 412.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1858.5413779527028, + 414.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1855.9433017413494, + 415.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1853.345225529996, + 417.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1850.7471493186426, + 418.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1848.1490731072893, + 420.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1845.550996895936, + 421.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1842.9529206845825, + 423.40009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1840.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1840.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1837.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1834.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1831.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1828.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1825.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1822.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1819.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1816.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1813.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1810.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1807.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1804.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1801.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1798.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1795.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1792.3548444732292, + 424.90009680866876, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 436.0, + -29.1778 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-39-9_434248626/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-39-9_434248626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5d8b8a9b517b06f6e76c007aaf4192f7a27a416 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-39-9_434248626/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1987.195683231101, + 239.70129667941885, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1985.695683231101, + 237.10322046806553, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1984.195683231101, + 234.5051442567122, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1982.695683231101, + 231.9070680453589, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1981.195683231101, + 229.30899183400558, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1979.695683231101, + 226.71091562265227, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1978.195683231101, + 224.11283941129895, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1976.695683231101, + 221.51476319994563, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1976.695683231101, + 221.51476319994563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1976.695683231101, + 218.51476319994563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1976.695683231101, + 215.51476319994563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1976.695683231101, + 212.51476319994563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1976.695683231101, + 209.51476319994563, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1952.0, + 128.0, + -8.00905 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-46-51_1665947468/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-46-51_1665947468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11bb84efe2d0035c3352a0ab3f6acf8d0be3561b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-46-51_1665947468/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 109.25613528991514, + -404.38543328912743, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.65805907856182, + -402.88543328912743, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 104.0599828672085, + -401.38543328912743, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-50-46_937370163/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-50-46_937370163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f64e85d03ec507b7306d7d58065bc8066273a14 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-50-46_937370163/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1399.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1402.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1405.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1408.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1411.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1414.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1417.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1423.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1426.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1429.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1432.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1435.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1438.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1441.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1447.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1450.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1456.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1459.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1462.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1465.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1468.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1468.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1468.6509215568642, + 217.4633322876311, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1470.1509215568642, + 214.86525607627777, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1471.6509215568642, + 212.26717986492446, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1473.1509215568642, + 209.66910365357114, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1474.6509215568642, + 207.07102744221783, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1476.1509215568642, + 204.4729512308645, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1477.6509215568642, + 201.8748750195112, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1479.1509215568642, + 199.27679880815788, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1480.6509215568642, + 196.67872259680456, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1482.1509215568642, + 194.08064638545125, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1482.1509215568642, + 194.08064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1484.7489977682176, + 192.58064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1487.347073979571, + 191.08064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1489.9451501909243, + 189.58064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1492.5432264022777, + 188.08064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1495.141302613631, + 186.58064638545125, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1497.7393788249844, + 185.08064638545125, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1516.0, + 180.0, + -29.3652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-51-44_1973387981/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-51-44_1973387981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f47cbc1935ed94a60025e15a9f5f3d152a4ede3d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-51-44_1973387981/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 913.7874910167061, + 1151.1796214586775, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 912.2874910167061, + 1153.7776976700309, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 910.7874910167061, + 1156.3757738813842, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 909.2874910167061, + 1158.9738500927376, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 907.7874910167061, + 1161.571926304091, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 907.7874910167061, + 1161.571926304091, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 907.7874910167061, + 1164.571926304091, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 907.7874910167061, + 1167.571926304091, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1248.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-53-2_260152959/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-53-2_260152959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a634b1d6f74827b6a5583588a65538b94b7028ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_13-53-2_260152959/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 366.80091213181805, + 354.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 366.80091213181805, + 357.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 366.80091213181805, + 360.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.80091213181805, + 363.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 366.80091213181805, + 366.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 366.80091213181805, + 369.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 366.80091213181805, + 372.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.80091213181805, + 375.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 366.80091213181805, + 378.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 366.80091213181805, + 381.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.80091213181805, + 384.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 366.80091213181805, + 387.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 366.80091213181805, + 390.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 366.80091213181805, + 393.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 366.80091213181805, + 396.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 366.80091213181805, + 399.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 366.80091213181805, + 402.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 366.80091213181805, + 405.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 366.80091213181805, + 408.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 366.80091213181805, + 411.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 366.80091213181805, + 414.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 366.80091213181805, + 417.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 366.80091213181805, + 420.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 366.80091213181805, + 423.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 366.80091213181805, + 426.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 366.80091213181805, + 429.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 366.80091213181805, + 432.8293273050447, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 366.80091213181805, + 432.8293273050447, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 366.80091213181805, + 432.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 364.20283592046474, + 434.3293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 361.6047597091114, + 435.8293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 359.0066834977581, + 437.3293273050447, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 359.0066834977581, + 437.3293273050447, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 357.5066834977581, + 439.92740351639804, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 356.0066834977581, + 442.52547972775136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 354.5066834977581, + 445.1235559391047, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 353.0066834977581, + 447.721632150458, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 351.5066834977581, + 450.3197083618113, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 350.0066834977581, + 452.9177845731646, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 348.5066834977581, + 455.51586078451794, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 347.0066834977581, + 458.11393699587126, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 484.0, + -1.13109 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-35-2_570073850/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-35-2_570073850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64b65fe717cb774fff8787b6e682e36e7918a161 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-35-2_570073850/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1140.2350103547335, + 495.6313920895134, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1138.7350103547335, + 493.03331587816007, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1137.2350103547335, + 490.43523966680675, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1135.7350103547335, + 487.83716345545344, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1134.2350103547335, + 485.2390872441001, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1132.7350103547335, + 482.6410110327468, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1131.2350103547335, + 480.0429348213935, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1129.7350103547335, + 477.44485861004017, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1128.2350103547335, + 474.84678239868686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1126.7350103547335, + 472.24870618733354, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1125.2350103547335, + 469.6506299759802, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1123.7350103547335, + 467.0525537646269, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1122.2350103547335, + 464.4544775532736, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1120.7350103547335, + 461.8564013419203, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1120.7350103547335, + 461.8564013419203, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1120.7350103547335, + 458.8564013419203, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 400.0, + -7.75826 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-39-21_1197352298/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-39-21_1197352298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d887de0cfc11aa0de3f3da05201213ba83d307b8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-39-21_1197352298/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 641.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 644.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 647.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 650.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 653.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 656.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 659.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 662.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 665.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 668.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 671.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 674.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 677.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 680.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 683.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 683.4898916816916, + -300.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 686.0879678930448, + -299.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 688.6860441043982, + -297.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 691.2841203157516, + -296.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 693.882196527105, + -294.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 696.4802727384583, + -293.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 699.0783489498117, + -291.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 701.6764251611651, + -290.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 704.2745013725184, + -288.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 706.8725775838718, + -287.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 709.4706537952252, + -285.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 712.0687300065786, + -284.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 714.6668062179319, + -282.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 717.2648824292853, + -281.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 719.8629586406387, + -279.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 722.461034851992, + -278.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 725.0591110633454, + -276.5342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 727.6571872746988, + -275.0342906000209, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 727.6571872746988, + -275.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 730.6571872746988, + -275.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 733.6571872746988, + -275.0342906000209, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 736.6571872746988, + -275.0342906000209, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 756.0, + -268.0, + -26.6135 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-47-56_1858721860/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-47-56_1858721860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f71d7ee72cad43a3ed52f9b7f923917c46d58410 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-47-56_1858721860/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1909.8940772865917, + 451.1603170185767, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1908.3940772865917, + 453.75839322993, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1906.8940772865917, + 456.3564694412833, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1905.3940772865917, + 458.9545456526366, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1903.8940772865917, + 461.55262186398994, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1902.3940772865917, + 464.15069807534326, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1900.8940772865917, + 466.7487742866966, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1899.3940772865917, + 469.3468504980499, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1897.8940772865917, + 471.9449267094032, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1896.3940772865917, + 474.5430029207565, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1894.8940772865917, + 477.14107913210984, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1893.3940772865917, + 479.73915534346315, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1891.8940772865917, + 482.33723155481647, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1890.3940772865917, + 484.9353077661698, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1888.8940772865917, + 487.5333839775231, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1887.3940772865917, + 490.1314601888764, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1885.8940772865917, + 492.72953640022973, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1884.3940772865917, + 495.32761261158305, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1882.8940772865917, + 497.92568882293637, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1881.3940772865917, + 500.5237650342897, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1879.8940772865917, + 503.121841245643, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1878.3940772865917, + 505.7199174569963, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1876.8940772865917, + 508.31799366834963, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1875.3940772865917, + 510.91606987970295, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1873.8940772865917, + 513.5141460910563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1872.3940772865917, + 516.1122223024097, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-48-20_1548348142/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-48-20_1548348142/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..940308ca76d8d1de4769b0ff0324203755723c95 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-48-20_1548348142/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 861.6432905266004, + 510.31262540620287, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 863.1432905266004, + 507.71454919484955, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 864.6432905266004, + 505.11647298349624, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 866.1432905266004, + 502.5183967721429, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 867.6432905266004, + 499.9203205607896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 869.1432905266004, + 497.3222443494363, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 870.6432905266004, + 494.724168138083, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 872.1432905266004, + 492.12609192672966, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 873.6432905266004, + 489.52801571537634, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 875.1432905266004, + 486.929939504023, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 876.6432905266004, + 484.3318632926697, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 878.1432905266004, + 481.7337870813164, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 879.6432905266004, + 479.1357108699631, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 881.1432905266004, + 476.53763465860976, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 881.1432905266004, + 476.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 881.1432905266004, + 473.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 881.1432905266004, + 470.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 881.1432905266004, + 467.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 881.1432905266004, + 464.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 881.1432905266004, + 461.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 881.1432905266004, + 458.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 881.1432905266004, + 455.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 881.1432905266004, + 452.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 881.1432905266004, + 449.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 881.1432905266004, + 446.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 881.1432905266004, + 443.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 881.1432905266004, + 440.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 881.1432905266004, + 437.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 881.1432905266004, + 434.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 881.1432905266004, + 431.53763465860976, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 881.1432905266004, + 428.53763465860976, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 888.0, + 396.0, + 1.13886 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-54-53_282828202/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-54-53_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..973d2c17096b038674529dc2bb5c1a47429ea28d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-54-53_282828202/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.0141641216063, + 249.34476623244393, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.5141641216063, + 251.94284244379725, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 379.0141641216063, + 254.54091865515056, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 377.5141641216063, + 257.1389948665039, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 376.0141641216063, + 259.7370710778572, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.5141641216063, + 262.3351472892105, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 373.0141641216063, + 264.9332235005638, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 371.5141641216063, + 267.53129971191714, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 370.0141641216063, + 270.12937592327046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 368.5141641216063, + 272.7274521346238, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.0141641216063, + 275.3255283459771, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.5141641216063, + 277.9236045573304, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 364.0141641216063, + 280.5216807686837, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.5141641216063, + 283.11975698003704, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 361.0141641216063, + 285.71783319139035, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 359.5141641216063, + 288.31590940274367, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 358.0141641216063, + 290.913985614097, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 356.5141641216063, + 293.5120618254503, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 355.0141641216063, + 296.1101380368036, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 353.5141641216063, + 298.70821424815693, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 352.0141641216063, + 301.30629045951025, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 350.5141641216063, + 303.90436667086357, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 349.0141641216063, + 306.5024428822169, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 349.0141641216063, + 306.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 349.0141641216063, + 309.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 349.0141641216063, + 312.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 349.0141641216063, + 315.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 349.0141641216063, + 318.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 349.0141641216063, + 321.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 349.0141641216063, + 324.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 349.0141641216063, + 327.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 349.0141641216063, + 330.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 349.0141641216063, + 333.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 349.0141641216063, + 336.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 349.0141641216063, + 339.5024428822169, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 349.0141641216063, + 342.5024428822169, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.0, + 368.0, + -1.13108 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-17_1137949908/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-17_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da032ee9d296b29a84f27f7244fa3ef02abf6387 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-17_1137949908/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1488.2299040089488, + 515.1633466980331, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1486.7299040089488, + 512.5652704866798, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1485.2299040089488, + 509.96719427532645, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1483.7299040089488, + 507.36911806397313, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1482.2299040089488, + 504.7710418526198, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1480.7299040089488, + 502.1729656412665, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1479.2299040089488, + 499.5748894299132, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1477.7299040089488, + 496.97681321855987, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1476.2299040089488, + 494.37873700720655, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1474.7299040089488, + 491.78066079585324, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1473.2299040089488, + 489.1825845844999, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1471.7299040089488, + 486.5845083731466, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1470.2299040089488, + 483.9864321617933, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1468.7299040089488, + 481.38835595044, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1467.2299040089488, + 478.79027973908666, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1465.7299040089488, + 476.19220352773334, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1464.2299040089488, + 473.59412731638, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1462.7299040089488, + 470.9960511050267, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1461.2299040089488, + 468.3979748936734, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1459.7299040089488, + 465.7998986823201, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1458.2299040089488, + 463.20182247096676, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1456.7299040089488, + 460.60374625961344, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1455.2299040089488, + 458.00567004826013, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1453.7299040089488, + 455.4075938369068, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1452.2299040089488, + 452.8095176255535, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1450.7299040089488, + 450.2114414142002, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1449.2299040089488, + 447.61336520284686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1447.7299040089488, + 445.01528899149355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1446.2299040089488, + 442.41721278014023, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1444.7299040089488, + 439.8191365687869, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1443.2299040089488, + 437.2210603574336, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1441.7299040089488, + 434.6229841460803, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1441.7299040089488, + 434.6229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1439.1318277975954, + 433.1229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1436.533751586242, + 431.6229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1433.9356753748887, + 430.1229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1431.3375991635353, + 428.6229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1428.739522952182, + 427.1229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1426.1414467408285, + 425.6229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1423.5433705294752, + 424.1229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1420.9452943181218, + 422.6229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1418.3472181067684, + 421.1229841460803, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1418.3472181067684, + 421.1229841460803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1416.8472181067684, + 418.52490793472697, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-48_1277849958/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-48_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04397f896306f429bfa388fc19707af6e77773af --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_14-59-48_1277849958/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1965.360758077264, + -138.71185300240688, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1966.860758077264, + -136.11377679105357, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1968.360758077264, + -133.51570057970025, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1969.860758077264, + -130.91762436834694, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1971.360758077264, + -128.31954815699362, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1972.860758077264, + -125.7214719456403, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1974.360758077264, + -123.12339573428699, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1975.860758077264, + -120.52531952293367, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1977.360758077264, + -117.92724331158036, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1978.860758077264, + -115.32916710022704, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1980.360758077264, + -112.73109088887372, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1981.860758077264, + -110.1330146775204, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1983.360758077264, + -107.53493846616709, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1984.860758077264, + -104.93686225481378, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1986.360758077264, + -102.33878604346046, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1986.360758077264, + -102.33878604346046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1986.360758077264, + -99.33878604346046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1986.360758077264, + -96.33878604346046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1986.360758077264, + -93.33878604346046, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1986.360758077264, + -90.33878604346046, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + -40.0, + -29.3497 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-0-10_777210498/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-0-10_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..405e58d19aaf204706474f6cdf3bb92d0af3c946 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-0-10_777210498/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1273.738422345546, + 566.1446572355759, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1272.238422345546, + 563.5465810242226, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1270.738422345546, + 560.9485048128693, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1269.238422345546, + 558.3504286015159, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1267.738422345546, + 555.7523523901625, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1266.238422345546, + 553.1542761788091, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1264.738422345546, + 550.5561999674558, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1263.238422345546, + 547.9581237561024, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1261.738422345546, + 545.360047544749, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1260.238422345546, + 542.7619713333956, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1258.738422345546, + 540.1638951220423, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1257.238422345546, + 537.5658189106889, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1255.738422345546, + 534.9677426993355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1254.238422345546, + 532.3696664879822, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1254.238422345546, + 532.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1254.238422345546, + 529.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1254.238422345546, + 526.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1254.238422345546, + 523.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1254.238422345546, + 520.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1254.238422345546, + 517.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1254.238422345546, + 514.3696664879822, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1254.238422345546, + 511.36966648798216, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1254.238422345546, + 508.36966648798216, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1254.238422345546, + 505.36966648798216, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1254.238422345546, + 502.36966648798216, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-19-27_1144278050/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-19-27_1144278050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cec2a26a950be9d03738d5e636534dc927a1fbd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-19-27_1144278050/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 698.111435891852, + -321.45415309060417, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 698.111435891852, + -321.45415309060417, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 698.111435891852, + -321.45415309060417, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 698.111435891852, + -321.45415309060417, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 698.111435891852, + -321.45415309060417, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 698.111435891852, + -321.45415309060417, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 698.111435891852, + -321.45415309060417, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 698.111435891852, + -321.45415309060417, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 698.111435891852, + -321.45415309060417, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 698.111435891852, + -321.45415309060417, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 698.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 701.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 704.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 707.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 710.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 710.111435891852, + -321.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 712.7095121032053, + -319.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 715.3075883145586, + -318.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 717.905664525912, + -316.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 720.5037407372654, + -315.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 723.1018169486188, + -313.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 725.6998931599721, + -312.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 728.2979693713255, + -310.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 730.8960455826789, + -309.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 733.4941217940323, + -307.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 736.0921980053856, + -306.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 738.690274216739, + -304.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 741.2883504280924, + -303.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 743.8864266394457, + -301.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 746.4845028507991, + -300.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 749.0825790621525, + -298.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 751.6806552735059, + -297.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 754.2787314848592, + -295.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 756.8768076962126, + -294.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 759.474883907566, + -292.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 762.0729601189194, + -291.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 764.6710363302727, + -289.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 767.2691125416261, + -288.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 769.8671887529795, + -286.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 772.4652649643328, + -285.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 775.0633411756862, + -283.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 777.6614173870396, + -282.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 780.259493598393, + -280.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 782.8575698097463, + -279.45415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 785.4556460210997, + -277.95415309060417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 788.0537222324531, + -276.45415309060417, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-2-20_1309383303/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-2-20_1309383303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..105a730d1f05d6cbc039d99398bcbec82508b323 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-2-20_1309383303/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.702556950629436, + -507.6659520431885, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 30.202556950629436, + -505.0678758318352, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 31.702556950629436, + -502.46979962048187, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.202556950629436, + -499.87172340912855, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 34.702556950629436, + -497.27364719777523, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 36.202556950629436, + -494.6755709864219, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 37.702556950629436, + -492.0774947750686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 39.202556950629436, + -489.4794185637153, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 40.702556950629436, + -486.88134235236197, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 42.202556950629436, + -484.28326614100865, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.702556950629436, + -481.68518992965534, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.202556950629436, + -479.087113718302, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 46.702556950629436, + -476.4890375069487, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 48.202556950629436, + -473.8909612955954, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 49.702556950629436, + -471.2928850842421, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 51.202556950629436, + -468.69480887288876, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 52.702556950629436, + -466.09673266153544, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 54.202556950629436, + -463.4986564501821, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.702556950629436, + -460.9005802388288, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 57.202556950629436, + -458.3025040274755, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 58.702556950629436, + -455.7044278161222, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 60.202556950629436, + -453.10635160476886, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 61.702556950629436, + -450.50827539341554, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 63.202556950629436, + -447.91019918206223, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 64.70255695062944, + -445.3121229707089, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965956 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 66.20255695062944, + -442.7140467593556, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 67.70255695062944, + -440.1159705480023, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 69.20255695062944, + -437.51789433664896, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 69.20255695062944, + -437.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 69.20255695062944, + -434.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 69.20255695062944, + -431.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 69.20255695062944, + -428.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 69.20255695062944, + -425.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 69.20255695062944, + -422.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 69.20255695062944, + -419.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 69.20255695062944, + -416.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 69.20255695062944, + -413.51789433664896, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 69.20255695062944, + -410.51789433664896, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 80.0, + -384.0, + 0.299492 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-27-5_12895151/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-27-5_12895151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6adfd685e626a262da3c28b9aa9ba38f5eebfd84 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-27-5_12895151/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1688.6419074056507, + -11.853667481694842, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1687.1419074056507, + -9.255591270341526, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1685.6419074056507, + -6.65751505898821, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1684.1419074056507, + -4.059438847634894, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1682.6419074056507, + -1.461362636281578, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1681.1419074056507, + 1.136713575071738, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1679.6419074056507, + 3.734789786425054, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1678.1419074056507, + 6.33286599777837, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1676.6419074056507, + 8.930942209131686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1675.1419074056507, + 11.529018420485002, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1673.6419074056507, + 14.127094631838318, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1672.1419074056507, + 16.725170843191634, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1670.6419074056507, + 19.32324705454495, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1669.1419074056507, + 21.921323265898266, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1667.6419074056507, + 24.519399477251582, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1666.1419074056507, + 27.117475688604898, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1664.6419074056507, + 29.715551899958214, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1664.6419074056507, + 29.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1662.0438311942974, + 31.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1659.445754982944, + 32.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1656.8476787715906, + 34.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1654.2496025602372, + 35.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1651.6515263488839, + 37.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1649.0534501375305, + 38.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1646.4553739261771, + 40.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1643.8572977148237, + 41.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1641.2592215034704, + 43.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1638.661145292117, + 44.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1636.0630690807636, + 46.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1633.4649928694103, + 47.715551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1630.8669166580569, + 49.215551899958214, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1630.8669166580569, + 49.215551899958214, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1629.3669166580569, + 51.81362811131153, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + 76.0, + -29.3847 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e653b3871e696948219601d0a948dcd6b06557d6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 594.5415395492985, + -338.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 594.5415395492985, + -335.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 594.5415395492985, + -332.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 594.5415395492985, + -329.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 594.5415395492985, + -326.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 594.5415395492985, + -323.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 594.5415395492985, + -320.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 594.5415395492985, + -317.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 594.5415395492985, + -314.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 594.5415395492985, + -311.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 594.5415395492985, + -308.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 594.5415395492985, + -305.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 594.5415395492985, + -302.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 594.5415395492985, + -299.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 594.5415395492985, + -296.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 594.5415395492985, + -293.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 594.5415395492985, + -290.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 594.5415395492985, + -287.8431824747811, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 594.5415395492985, + -287.8431824747811, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 593.0415395492985, + -285.2451062634278, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 591.5415395492985, + -282.64703005207446, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 590.0415395492985, + -280.04895384072114, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 588.5415395492985, + -277.4508776293678, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 587.0415395492985, + -274.8528014180145, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 585.5415395492985, + -272.2547252066612, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 584.0415395492985, + -269.6566489953079, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 582.5415395492985, + -267.05857278395456, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 581.0415395492985, + -264.46049657260124, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 579.5415395492985, + -261.8624203612479, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 578.0415395492985, + -259.2643441498946, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 576.5415395492985, + -256.6662679385413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 575.0415395492985, + -254.06819172718798, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 573.5415395492985, + -251.47011551583466, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 572.0415395492985, + -248.87203930448135, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 570.5415395492985, + -246.27396309312803, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 569.0415395492985, + -243.67588688177472, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-6-53_364319529/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-6-53_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b8a75f65be3dbd2d5664bc796dff968591be5fa --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-6-53_364319529/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 699.0881789764517, + -126.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 701.686255187805, + -125.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 704.2843313991584, + -123.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 706.8824076105118, + -122.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 709.4804838218652, + -120.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 712.0785600332185, + -119.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 714.6766362445719, + -117.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 717.2747124559253, + -116.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 719.8727886672787, + -114.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 722.470864878632, + -113.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 725.0689410899854, + -111.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 727.6670173013388, + -110.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 730.2650935126921, + -108.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 732.8631697240455, + -107.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 735.4612459353989, + -105.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 738.0593221467523, + -104.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 740.6573983581056, + -102.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 743.255474569459, + -101.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 745.8535507808124, + -99.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 748.4516269921658, + -98.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 751.0497032035191, + -96.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 753.6477794148725, + -95.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 756.2458556262259, + -93.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 758.8439318375792, + -92.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 761.4420080489326, + -90.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 764.040084260286, + -89.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 766.6381604716394, + -87.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 769.2362366829927, + -86.04134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 771.8343128943461, + -84.54134083309418, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 774.4323891056995, + -83.04134083309418, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 828.0, + -52.0, + 0.708504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-9-20_767066249/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-9-20_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a76e1d6fc45bd67f720ac669356543116c65b522 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-9-20_767066249/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1924.9567379051928, + 390.49350017776044, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1926.4567379051928, + 393.09157638911375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1927.9567379051928, + 395.68965260046707, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1929.4567379051928, + 398.2877288118204, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1930.9567379051928, + 400.8858050231737, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1932.4567379051928, + 403.483881234527, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1933.9567379051928, + 406.08195744588033, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1935.4567379051928, + 408.68003365723365, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1936.9567379051928, + 411.27810986858697, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1938.4567379051928, + 413.8761860799403, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1939.9567379051928, + 416.4742622912936, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1941.4567379051928, + 419.0723385026469, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1942.9567379051928, + 421.67041471400023, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1944.4567379051928, + 424.26849092535355, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1944.4567379051928, + 424.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1947.0548141165461, + 425.76849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1949.6528903278995, + 427.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1952.2509665392529, + 428.76849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1954.8490427506063, + 430.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1957.4471189619596, + 431.76849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1960.045195173313, + 433.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1962.6432713846664, + 434.76849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1965.2413475960198, + 436.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1967.8394238073731, + 437.76849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1970.4375000187265, + 439.26849092535355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1973.0355762300799, + 440.76849092535355, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-14-55_2137100237/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-14-55_2137100237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4ef2f7fe8d464bb7d55b11613c78921fe7a1316 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-14-55_2137100237/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 193.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 196.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 199.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 205.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 208.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 211.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 214.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 217.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 220.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 223.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 226.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 229.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 232.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 235.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 238.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 241.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 244.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 247.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 250.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 253.2660335913666, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 256.26603359136664, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 259.26603359136664, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 262.26603359136664, + 304.9844678860136, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 262.26603359136664, + 304.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 264.86410980271995, + 303.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 267.46218601407327, + 301.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 270.0602622254266, + 300.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 272.6583384367799, + 298.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 275.2564146481332, + 297.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 277.85449085948653, + 295.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 280.45256707083985, + 294.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.05064328219316, + 292.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 285.6487194935465, + 291.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 288.2467957048998, + 289.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 290.8448719162531, + 288.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 293.4429481276064, + 286.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 296.04102433895974, + 285.4844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 298.63910055031306, + 283.9844678860136, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 301.2371767616664, + 282.4844678860136, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-2-8_1281830857/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-2-8_1281830857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..592d2e9e44776025480af57d62545fc399a97601 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-2-8_1281830857/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -69.02423273955617, + -436.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -69.02423273955617, + -433.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -69.02423273955617, + -430.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -69.02423273955617, + -427.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -69.02423273955617, + -424.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -69.02423273955617, + -421.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -69.02423273955617, + -418.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -69.02423273955617, + -415.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -69.02423273955617, + -412.14402710593413, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -69.02423273955617, + -412.14402710593413, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -69.02423273955617, + -412.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -66.42615652820285, + -410.64402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -63.82808031684954, + -409.14402710593413, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -63.82808031684954, + -409.14402710593413, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -63.82808031684954, + -409.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.82808031684954, + -406.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -63.82808031684954, + -403.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -63.82808031684954, + -400.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -63.82808031684954, + -397.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -63.82808031684954, + -394.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -63.82808031684954, + -391.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -63.82808031684954, + -388.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -63.82808031684954, + -385.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -63.82808031684954, + -382.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -63.82808031684954, + -379.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -63.82808031684954, + -376.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -63.82808031684954, + -373.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -63.82808031684954, + -370.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -63.82808031684954, + -367.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -63.82808031684954, + -364.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -63.82808031684954, + -361.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -63.82808031684954, + -358.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -63.82808031684954, + -355.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -63.82808031684954, + -352.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -63.82808031684954, + -349.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -63.82808031684954, + -346.14402710593413, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -63.82808031684954, + -343.14402710593413, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + -316.0, + -30.1698 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-3-0_1156541312/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-3-0_1156541312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..263c9ba2bdbc6ab6fa50a6535c677f42af6a97ab --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-3-0_1156541312/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1812.6329130138902, + -145.1315276041347, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1814.1329130138902, + -142.5334513927814, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1815.6329130138902, + -139.93537518142807, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1815.6329130138902, + -139.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1818.2309892252435, + -138.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1820.829065436597, + -136.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1823.4271416479503, + -135.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1826.0252178593037, + -133.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1828.623294070657, + -132.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1831.2213702820104, + -130.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1833.8194464933638, + -129.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1836.4175227047172, + -127.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1839.0155989160705, + -126.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1841.613675127424, + -124.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1844.2117513387773, + -123.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1846.8098275501306, + -121.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1849.407903761484, + -120.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1852.0059799728374, + -118.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1854.6040561841908, + -117.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1857.2021323955441, + -115.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1859.8002086068975, + -114.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1862.3982848182509, + -112.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1864.9963610296043, + -111.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1867.5944372409576, + -109.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1870.192513452311, + -108.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1872.7905896636644, + -106.93537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1875.3886658750178, + -105.43537518142807, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1875.3886658750178, + -105.43537518142807, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1876.8886658750178, + -102.83729897007476, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1878.3886658750178, + -100.23922275872144, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1879.8886658750178, + -97.64114654736812, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1881.3886658750178, + -95.04307033601481, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1882.8886658750178, + -92.44499412466149, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1884.3886658750178, + -89.84691791330818, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1885.8886658750178, + -87.24884170195486, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-40-16_1204462951/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-40-16_1204462951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4180fb0862718c6a1ea7f74868abf9243f202935 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-40-16_1204462951/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 853.2689988769657, + 1101.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 853.2689988769657, + 1104.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 853.2689988769657, + 1107.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 853.2689988769657, + 1110.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 853.2689988769657, + 1113.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 853.2689988769657, + 1116.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 853.2689988769657, + 1119.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 853.2689988769657, + 1122.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 853.2689988769657, + 1125.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 853.2689988769657, + 1128.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 853.2689988769657, + 1131.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 853.2689988769657, + 1134.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 853.2689988769657, + 1137.6688203642482, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 853.2689988769657, + 1137.6688203642482, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 854.7689988769657, + 1140.2668965756015, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 856.2689988769657, + 1142.864972786955, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 857.7689988769657, + 1145.4630489983083, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 859.2689988769657, + 1148.0611252096617, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 860.7689988769657, + 1150.659201421015, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 862.2689988769657, + 1153.2572776323684, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 863.7689988769657, + 1155.8553538437218, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 865.2689988769657, + 1158.4534300550752, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 866.7689988769657, + 1161.0515062664285, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1248.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-48-51_1894519218/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-48-51_1894519218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b316f690a9d287fdd0669ca36fe365e9fbfac5e3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-48-51_1894519218/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1355.2561601197965, + 164.82195195375905, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1356.7561601197965, + 167.42002816511237, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1358.2561601197965, + 170.0181043764657, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1359.7561601197965, + 172.616180587819, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1361.2561601197965, + 175.21425679917232, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1362.7561601197965, + 177.81233301052563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1364.2561601197965, + 180.41040922187895, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1365.7561601197965, + 183.00848543323227, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1367.2561601197965, + 185.60656164458558, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1368.7561601197965, + 188.2046378559389, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1370.2561601197965, + 190.80271406729221, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1371.7561601197965, + 193.40079027864553, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1373.2561601197965, + 195.99886648999885, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1374.7561601197965, + 198.59694270135216, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1376.2561601197965, + 201.19501891270548, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1377.7561601197965, + 203.7930951240588, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1379.2561601197965, + 206.3911713354121, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1380.7561601197965, + 208.98924754676543, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1382.2561601197965, + 211.58732375811874, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1383.7561601197965, + 214.18539996947206, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1385.2561601197965, + 216.78347618082537, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1386.7561601197965, + 219.3815523921787, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1388.2561601197965, + 221.979628603532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1389.7561601197965, + 224.57770481488532, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1389.7561601197965, + 224.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1389.7561601197965, + 227.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1389.7561601197965, + 230.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1389.7561601197965, + 233.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1389.7561601197965, + 236.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1389.7561601197965, + 239.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1389.7561601197965, + 242.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1389.7561601197965, + 245.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1389.7561601197965, + 248.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1389.7561601197965, + 251.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1389.7561601197965, + 254.57770481488532, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1389.7561601197965, + 257.57770481488535, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 284.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-50-44_1021784812/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-50-44_1021784812/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5008e8ec9004fda4957e069bfb25ffcfda11d171 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-50-44_1021784812/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1180.9404484914735, + 194.25193363499062, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1179.4404484914735, + 196.85000984634394, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1177.9404484914735, + 199.44808605769725, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1176.4404484914735, + 202.04616226905057, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1174.9404484914735, + 204.64423848040389, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1173.4404484914735, + 207.2423146917572, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1171.9404484914735, + 209.84039090311052, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1170.4404484914735, + 212.43846711446383, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1168.9404484914735, + 215.03654332581715, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1167.4404484914735, + 217.63461953717047, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1165.9404484914735, + 220.23269574852378, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1164.4404484914735, + 222.8307719598771, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1162.9404484914735, + 225.4288481712304, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1161.4404484914735, + 228.02692438258373, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1159.9404484914735, + 230.62500059393705, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1159.9404484914735, + 230.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1159.9404484914735, + 233.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1159.9404484914735, + 236.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1159.9404484914735, + 239.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1159.9404484914735, + 242.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1159.9404484914735, + 245.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1159.9404484914735, + 248.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1159.9404484914735, + 251.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1159.9404484914735, + 254.62500059393705, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1159.9404484914735, + 257.62500059393705, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1144.0, + 300.0, + 0.65896 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-56-21_378469911/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-56-21_378469911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..517ce409755376fc496ce100e85081c7d4ac752d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-56-21_378469911/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 841.2226084610163, + 412.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 843.8206846723697, + 413.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 846.418760883723, + 415.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 849.0168370950764, + 416.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 851.6149133064298, + 418.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 854.2129895177832, + 419.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 856.8110657291365, + 421.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 859.4091419404899, + 422.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 862.0072181518433, + 424.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 864.6052943631967, + 425.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 867.20337057455, + 427.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 869.8014467859034, + 428.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 872.3995229972568, + 430.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 874.9975992086102, + 431.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 877.5956754199635, + 433.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 880.1937516313169, + 434.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 882.7918278426703, + 436.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 885.3899040540236, + 437.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 887.987980265377, + 439.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 890.5860564767304, + 440.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 893.1841326880838, + 442.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 895.7822088994371, + 443.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 898.3802851107905, + 445.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 900.9783613221439, + 446.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 903.5764375334973, + 448.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 906.1745137448506, + 449.75498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 908.772589956204, + 451.25498147953454, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 908.772589956204, + 451.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 911.772589956204, + 451.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 914.772589956204, + 451.25498147953454, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 917.772589956204, + 451.25498147953454, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 917.772589956204, + 451.25498147953454, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 917.772589956204, + 451.25498147953454, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 917.772589956204, + 451.25498147953454, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 917.772589956204, + 451.25498147953454, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 917.772589956204, + 451.25498147953454, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 917.772589956204, + 451.25498147953454, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 917.772589956204, + 451.25498147953454, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 917.772589956204, + 451.25498147953454, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 917.772589956204, + 451.25498147953454, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 917.772589956204, + 451.25498147953454, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-7-22_1095966189/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-7-22_1095966189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d8c483611e699b29823c5f5372f00212f07285e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-7-22_1095966189/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1892.5228898215876, + 922.7261483593753, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1894.0228898215876, + 920.128072148022, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1895.5228898215876, + 917.5299959366687, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1897.0228898215876, + 914.9319197253153, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1898.5228898215876, + 912.3338435139619, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1900.0228898215876, + 909.7357673026086, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1901.5228898215876, + 907.1376910912552, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1903.0228898215876, + 904.5396148799018, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1904.5228898215876, + 901.9415386685484, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1906.0228898215876, + 899.3434624571951, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1907.5228898215876, + 896.7453862458417, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1909.0228898215876, + 894.1473100344883, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1910.5228898215876, + 891.549233823135, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1912.0228898215876, + 888.9511576117816, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1913.5228898215876, + 886.3530814004282, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1915.0228898215876, + 883.7550051890748, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1916.5228898215876, + 881.1569289777215, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1918.0228898215876, + 878.5588527663681, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1919.5228898215876, + 875.9607765550147, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1921.0228898215876, + 873.3627003436613, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1921.0228898215876, + 873.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1921.0228898215876, + 870.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1921.0228898215876, + 867.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1921.0228898215876, + 864.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1921.0228898215876, + 861.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1921.0228898215876, + 858.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1921.0228898215876, + 855.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1921.0228898215876, + 852.3627003436613, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1921.0228898215876, + 849.3627003436613, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-16-48_1269400346/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-16-48_1269400346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b54dcddbe8789ff36307253df3ba6352b9768d9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-16-48_1269400346/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1853.8535824244436, + -142.37077907855985, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1856.451658635797, + -140.87077907855985, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1856.451658635797, + -140.87077907855985, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1857.951658635797, + -138.27270286720653, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1859.451658635797, + -135.67462665585322, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1859.451658635797, + -135.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1862.0497348471504, + -134.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1864.6478110585037, + -132.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1867.2458872698571, + -131.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1869.8439634812105, + -129.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1872.4420396925639, + -128.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1875.0401159039172, + -126.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1877.6381921152706, + -125.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1880.236268326624, + -123.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1882.8343445379774, + -122.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1885.4324207493307, + -120.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1888.030496960684, + -119.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1890.6285731720375, + -117.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1893.2266493833908, + -116.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1895.8247255947442, + -114.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1898.4228018060976, + -113.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1901.020878017451, + -111.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1903.6189542288043, + -110.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1906.2170304401577, + -108.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1908.815106651511, + -107.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1911.4131828628645, + -105.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1914.0112590742178, + -104.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1916.6093352855712, + -102.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1919.2074114969246, + -101.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1921.805487708278, + -99.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1924.4035639196313, + -98.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1927.0016401309847, + -96.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1929.599716342338, + -95.17462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1932.1977925536914, + -93.67462665585322, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1934.7958687650448, + -92.17462665585322, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-40-43_1821066342/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-40-43_1821066342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..493c87db1a30ee1693fb9627f4ccac97c637ede4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-40-43_1821066342/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 992.129200884897, + 360.1195603890966, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.129200884897, + 360.1195603890966, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 992.129200884897, + 360.1195603890966, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 992.129200884897, + 360.1195603890966, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 992.129200884897, + 360.1195603890966, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 992.129200884897, + 360.1195603890966, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 992.129200884897, + 360.1195603890966, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 992.129200884897, + 360.1195603890966, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 992.129200884897, + 360.1195603890966, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 992.129200884897, + 360.1195603890966, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 992.129200884897, + 360.1195603890966, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 993.629200884897, + 362.7176366004499, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 995.129200884897, + 365.3157128118032, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 996.629200884897, + 367.91378902315654, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 998.129200884897, + 370.51186523450986, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 999.629200884897, + 373.10994144586317, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1001.129200884897, + 375.7080176572165, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1002.629200884897, + 378.3060938685698, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1004.129200884897, + 380.9041700799231, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1005.629200884897, + 383.50224629127644, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1007.129200884897, + 386.10032250262975, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1008.629200884897, + 388.69839871398307, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1010.129200884897, + 391.2964749253364, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1011.629200884897, + 393.8945511366897, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1013.129200884897, + 396.492627348043, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1014.629200884897, + 399.09070355939633, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1016.129200884897, + 401.68877977074965, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1017.629200884897, + 404.28685598210296, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1019.129200884897, + 406.8849321934563, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1020.629200884897, + 409.4830084048096, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1022.129200884897, + 412.0810846161629, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1023.629200884897, + 414.6791608275162, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1025.129200884897, + 417.27723703886954, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1026.629200884897, + 419.87531325022286, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1028.129200884897, + 422.4733894615762, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1029.629200884897, + 425.0714656729295, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1031.129200884897, + 427.6695418842828, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1031.129200884897, + 427.6695418842828, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1031.129200884897, + 430.6695418842828, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1031.129200884897, + 433.6695418842828, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1031.129200884897, + 436.6695418842828, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1031.129200884897, + 439.6695418842828, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1031.129200884897, + 442.6695418842828, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 476.0, + -9.69104 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-47-8_51245830/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-47-8_51245830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b3344acd131d945bece07dcb9adb1b33c53e27b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-47-8_51245830/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 646.4739606035362, + 184.78545915566065, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 647.9739606035362, + 187.38353536701396, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 649.4739606035362, + 189.98161157836728, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 650.9739606035362, + 192.5796877897206, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 652.4739606035362, + 195.1777640010739, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 653.9739606035362, + 197.77584021242723, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 655.4739606035362, + 200.37391642378054, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 656.9739606035362, + 202.97199263513386, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 658.4739606035362, + 205.57006884648717, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 659.9739606035362, + 208.1681450578405, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 661.4739606035362, + 210.7662212691938, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 662.9739606035362, + 213.36429748054712, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 664.4739606035362, + 215.96237369190044, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 665.9739606035362, + 218.56044990325375, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 667.4739606035362, + 221.15852611460707, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 668.9739606035362, + 223.7566023259604, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 670.4739606035362, + 226.3546785373137, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 671.9739606035362, + 228.95275474866702, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 673.4739606035362, + 231.55083096002033, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 674.9739606035362, + 234.14890717137365, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 676.4739606035362, + 236.74698338272697, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 677.9739606035362, + 239.34505959408028, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 679.4739606035362, + 241.9431358054336, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 680.9739606035362, + 244.54121201678691, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 682.4739606035362, + 247.13928822814023, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 683.9739606035362, + 249.73736443949355, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 685.4739606035362, + 252.33544065084686, + -15.458964880238389 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 685.4739606035362, + 252.33544065084686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 685.4739606035362, + 255.33544065084686, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 685.4739606035362, + 258.33544065084686, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-55-15_2064945486/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-55-15_2064945486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e41eb3db1c5bb4e19d01d41189089ab450047616 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-55-15_2064945486/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.9500177162865, + 460.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1380.3519415049332, + 459.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1377.7538652935798, + 457.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1375.1557890822264, + 456.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1372.557712870873, + 454.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1369.9596366595197, + 453.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1367.3615604481663, + 451.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1364.763484236813, + 450.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1362.1654080254596, + 448.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1359.5673318141062, + 447.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1356.9692556027528, + 445.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1354.3711793913994, + 444.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1351.773103180046, + 442.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1349.1750269686927, + 441.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1346.5769507573393, + 439.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1343.978874545986, + 438.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1341.3807983346326, + 436.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1338.7827221232792, + 435.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1336.1846459119258, + 433.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1333.5865697005725, + 432.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1330.988493489219, + 430.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1328.3904172778657, + 429.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1325.7923410665123, + 427.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1323.194264855159, + 426.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1320.5961886438056, + 424.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1317.9981124324522, + 423.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1315.4000362210988, + 421.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1312.8019600097455, + 420.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1310.203883798392, + 418.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1307.6058075870387, + 417.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1305.0077313756854, + 415.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1302.409655164332, + 414.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1299.8115789529786, + 412.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1297.2135027416252, + 411.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1294.6154265302719, + 409.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1292.0173503189185, + 408.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1289.4192741075651, + 406.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1286.8211978962117, + 405.13788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1284.2231216848584, + 403.63788333743247, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1281.625045473505, + 402.13788333743247, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1256.0, + 384.0, + -29.3652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-6-15_1747844822/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-6-15_1747844822/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43022c42ad05aaa3e569f0b000f296f00c4ffef8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-6-15_1747844822/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 267.8896131082769, + 182.2973567408677, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 269.3896131082769, + 179.6992805295144, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 270.8896131082769, + 177.10120431816108, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 272.3896131082769, + 174.50312810680776, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.8896131082769, + 171.90505189545445, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.3896131082769, + 169.30697568410113, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 276.8896131082769, + 166.70889947274782, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 278.3896131082769, + 164.1108232613945, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 279.8896131082769, + 161.51274705004118, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.3896131082769, + 158.91467083868787, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.8896131082769, + 156.31659462733455, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 284.3896131082769, + 153.71851841598124, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 285.8896131082769, + 151.12044220462792, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 287.3896131082769, + 148.5223659932746, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 288.8896131082769, + 145.9242897819213, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 290.3896131082769, + 143.32621357056797, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 291.8896131082769, + 140.72813735921466, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 293.3896131082769, + 138.13006114786134, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 294.8896131082769, + 135.53198493650802, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 296.3896131082769, + 132.9339087251547, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 297.8896131082769, + 130.3358325138014, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.3896131082769, + 127.73775630244808, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 300.8896131082769, + 125.13968009109476, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.3896131082769, + 122.54160387974144, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.8896131082769, + 119.94352766838813, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 305.3896131082769, + 117.34545145703481, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 306.8896131082769, + 114.7473752456815, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 308.3896131082769, + 112.14929903432818, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 309.8896131082769, + 109.55122282297486, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 309.8896131082769, + 109.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 309.8896131082769, + 106.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 309.8896131082769, + 103.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.8896131082769, + 100.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.8896131082769, + 97.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 309.8896131082769, + 94.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 309.8896131082769, + 91.55122282297486, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 309.8896131082769, + 88.55122282297486, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 64.0, + -0.161909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-7-6_765326717/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-7-6_765326717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b54ffb002b530882441a15347cf41bbf6dfbf181 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_17-7-6_765326717/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -45.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -42.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -39.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -36.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -33.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -30.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -27.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -24.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -21.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -18.45896488023839 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1853.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1856.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1859.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1862.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1865.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1868.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1871.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1874.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1877.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1880.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1883.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1886.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1889.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1892.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1895.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1898.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1901.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1904.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1907.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1907.6958923171426, + 208.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1910.293968528496, + 207.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1912.8920447398493, + 205.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1915.4901209512027, + 204.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1918.088197162556, + 202.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1920.6862733739094, + 201.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1923.2843495852628, + 199.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1925.8824257966162, + 198.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1928.4805020079696, + 196.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1931.078578219323, + 195.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1933.6766544306763, + 193.78203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1936.2747306420297, + 192.28203677385622, + -15.458964880238389 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -15.458964880238389 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -18.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -21.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -24.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -27.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -30.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -33.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -36.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -39.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -42.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1938.872806853383, + 190.78203677385622, + -45.45896488023839 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1960.0, + 188.0, + -8.00906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-0-2_231602422/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-0-2_231602422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72aa017022941b2e5ef0904d401bfe4bbb2d1930 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-0-2_231602422/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1260.8802010054128, + 586.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1258.2821247940594, + 585.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1255.684048582706, + 583.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1253.0859723713527, + 582.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1250.4878961599993, + 580.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1247.889819948646, + 579.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1245.2917437372926, + 577.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1242.6936675259392, + 576.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1240.0955913145858, + 574.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1237.4975151032324, + 573.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1234.899438891879, + 571.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1232.3013626805257, + 570.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1229.7032864691723, + 568.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1227.105210257819, + 567.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1224.5071340464656, + 565.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1221.9090578351122, + 564.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1219.3109816237588, + 562.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1216.7129054124055, + 561.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1214.114829201052, + 559.5139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1211.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1211.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1208.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1205.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1202.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1199.5167529896987, + 558.0139804761906, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + 540.0, + -29.242 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-11-6_1295166342/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-11-6_1295166342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc39055559ad63aeb75a7abba5cc75bff1cd92ce --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-11-6_1295166342/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1539.5193160141398, + 54.948730186193714, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1539.5193160141398, + 54.948730186193714, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1539.5193160141398, + 54.948730186193714, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1539.5193160141398, + 54.948730186193714, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1541.0193160141398, + 57.54680639754703, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1542.5193160141398, + 60.144882608900346, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1544.0193160141398, + 62.74295882025366, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1545.5193160141398, + 65.34103503160698, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1547.0193160141398, + 67.9391112429603, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1548.5193160141398, + 70.53718745431361, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1550.0193160141398, + 73.13526366566693, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1551.5193160141398, + 75.73333987702024, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1553.0193160141398, + 78.33141608837356, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1554.5193160141398, + 80.92949229972687, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1556.0193160141398, + 83.52756851108019, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1557.5193160141398, + 86.1256447224335, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1559.0193160141398, + 88.72372093378682, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1560.5193160141398, + 91.32179714514014, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1562.0193160141398, + 93.91987335649345, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1563.5193160141398, + 96.51794956784677, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1565.0193160141398, + 99.11602577920009, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1566.5193160141398, + 101.7141019905534, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1568.0193160141398, + 104.31217820190672, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1569.5193160141398, + 106.91025441326003, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1571.0193160141398, + 109.50833062461335, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1571.0193160141398, + 109.50833062461335, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1573.6173922254932, + 111.00833062461335, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1576.2154684368465, + 112.50833062461335, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1576.2154684368465, + 112.50833062461335, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1576.2154684368465, + 112.50833062461335, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1576.2154684368465, + 112.50833062461335, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-13-3_292218004/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-13-3_292218004/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3bb867e103a2333fb1fca814b6c5d8464115b7e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-13-3_292218004/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1193.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1190.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1187.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1184.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1181.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1178.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1175.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1172.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1169.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1166.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1163.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1160.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1157.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1154.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1151.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1151.9671144250701, + 512.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1149.3690382137167, + 513.8191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1146.7709620023634, + 515.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1144.17288579101, + 516.8191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1141.5748095796566, + 518.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1138.9767333683033, + 519.8191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1136.3786571569499, + 521.3191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1133.7805809455965, + 522.8191739849598, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1131.1825047342431, + 524.3191739849598, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 540.0, + -32.9472 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-14-55_2001229904/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-14-55_2001229904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f9070638f400b27c5baddeeebddf703686bc8df --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-14-55_2001229904/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 985.4620942242864, + -209.3711266934264, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 985.4620942242864, + -209.3711266934264, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 985.4620942242864, + -209.3711266934264, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 985.4620942242864, + -209.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 988.0601704356397, + -210.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 990.6582466469931, + -212.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 993.2563228583465, + -213.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 995.8543990696999, + -215.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 998.4524752810532, + -216.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1001.0505514924066, + -218.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1003.64862770376, + -219.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1006.2467039151134, + -221.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1008.8447801264667, + -222.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1011.4428563378201, + -224.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1014.0409325491735, + -225.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1016.6390087605268, + -227.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1019.2370849718802, + -228.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1021.8351611832336, + -230.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1024.433237394587, + -231.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1027.0313136059403, + -233.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1029.6293898172937, + -234.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1032.227466028647, + -236.3711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1034.8255422400005, + -237.8711266934264, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1034.8255422400005, + -237.8711266934264, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1036.3255422400005, + -240.4692029047797, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1037.8255422400005, + -243.06727911613302, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1039.3255422400005, + -245.66535532748634, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1040.8255422400005, + -248.26343153883965, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1042.3255422400005, + -250.86150775019297, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1043.8255422400005, + -253.4595839615463, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1043.8255422400005, + -253.4595839615463, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1043.8255422400005, + -253.4595839615463, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1043.8255422400005, + -253.4595839615463, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1072.0, + -272.0, + -29.4917 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-17-52_1520223205/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-17-52_1520223205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e98ad4059ccbdbf1bd74bf9d49ff22b21e8ac93 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-17-52_1520223205/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 494.3473894222464, + 113.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 491.7493132108931, + 114.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 489.1512369995398, + 116.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.55316078818646, + 117.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 483.95508457683314, + 119.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 481.3570083654798, + 120.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 478.7589321541265, + 122.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 476.1608559427732, + 123.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 473.5627797314199, + 125.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 470.96470352006656, + 126.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 468.36662730871325, + 128.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 465.76855109735993, + 129.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 463.1704748860066, + 131.36471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 460.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 460.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 457.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 451.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 448.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 445.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 442.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 439.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 433.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 430.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 427.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 424.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 421.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 418.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 415.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 412.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 409.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 406.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 403.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 400.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 400.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 400.5723986746533, + 132.86471953539848, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 399.0723986746533, + 135.4627957467518, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 397.5723986746533, + 138.0608719581051, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 396.0723986746533, + 140.65894816945843, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 394.5723986746533, + 143.25702438081174, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 393.0723986746533, + 145.85510059216506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 391.5723986746533, + 148.45317680351837, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 390.0723986746533, + 151.0512530148717, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 388.5723986746533, + 153.649329226225, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 388.5723986746533, + 153.649329226225, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 388.5723986746533, + 153.649329226225, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 388.5723986746533, + 153.649329226225, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 388.5723986746533, + 153.649329226225, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 388.5723986746533, + 153.649329226225, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 388.5723986746533, + 153.649329226225, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 388.5723986746533, + 153.649329226225, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f4dedc5dbde85d9a2d0b7b6ac5a70177740988e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 922.157927272207, + 569.4404054669316, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 922.157927272207, + 569.4404054669316, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 922.157927272207, + 569.4404054669316, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 922.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 925.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 928.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 931.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 934.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 937.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 940.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 943.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 946.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 949.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 952.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 955.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 958.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 961.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 964.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 967.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 970.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 973.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 976.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 979.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 982.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 982.157927272207, + 569.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 984.7560034835603, + 567.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 987.3540796949137, + 566.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 989.9521559062671, + 564.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 992.5502321176205, + 563.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 995.1483083289738, + 561.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 997.7463845403272, + 560.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1000.3444607516806, + 558.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1002.942536963034, + 557.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1005.5406131743873, + 555.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1008.1386893857407, + 554.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1010.7367655970941, + 552.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1013.3348418084474, + 551.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1015.9329180198008, + 549.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1018.5309942311542, + 548.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1021.1290704425076, + 546.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1023.7271466538609, + 545.4404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1026.3252228652143, + 543.9404054669316, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1028.9232990765677, + 542.4404054669316, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1028.9232990765677, + 542.4404054669316, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1028.9232990765677, + 542.4404054669316, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1028.9232990765677, + 542.4404054669316, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 540.0, + -32.9472 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e41eeca199de28026007444f992fe0cd02d4fa4e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 294.9263738189325, + 144.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 294.9263738189325, + 147.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 294.9263738189325, + 150.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.9263738189325, + 153.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.9263738189325, + 156.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 294.9263738189325, + 159.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 294.9263738189325, + 162.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.9263738189325, + 165.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 294.9263738189325, + 168.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.9263738189325, + 171.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 294.9263738189325, + 174.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 294.9263738189325, + 177.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 294.9263738189325, + 180.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 294.9263738189325, + 183.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 294.9263738189325, + 186.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 294.9263738189325, + 189.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.9263738189325, + 192.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.9263738189325, + 195.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 294.9263738189325, + 198.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 294.9263738189325, + 201.0037316541587, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 294.9263738189325, + 201.0037316541587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 296.4263738189325, + 203.60180786551203, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 297.9263738189325, + 206.19988407686535, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.4263738189325, + 208.79796028821866, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 300.9263738189325, + 211.39603649957198, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 302.4263738189325, + 213.9941127109253, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 303.9263738189325, + 216.5921889222786, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 305.4263738189325, + 219.19026513363193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.9263738189325, + 221.78834134498524, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 308.4263738189325, + 224.38641755633856, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.9263738189325, + 226.98449376769187, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 311.4263738189325, + 229.5825699790452, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 311.4263738189325, + 229.5825699790452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 311.4263738189325, + 232.5825699790452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 311.4263738189325, + 235.5825699790452, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 311.4263738189325, + 238.5825699790452, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-34-2_105575579/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-34-2_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..236850d6346c2df960c9bd1686227c396bb768c5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-34-2_105575579/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 729.6958701090632, + 868.9665202542875, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 729.6958701090632, + 868.9665202542875, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 729.6958701090632, + 868.9665202542875, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 729.6958701090632, + 868.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 729.6958701090632, + 865.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 729.6958701090632, + 862.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 729.6958701090632, + 859.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 729.6958701090632, + 856.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 729.6958701090632, + 853.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 729.6958701090632, + 850.9665202542875, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 729.6958701090632, + 850.9665202542875, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 728.1958701090632, + 848.3684440429342, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 726.6958701090632, + 845.7703678315809, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 725.1958701090632, + 843.1722916202275, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 723.6958701090632, + 840.5742154088741, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 722.1958701090632, + 837.9761391975208, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 720.6958701090632, + 835.3780629861674, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 720.6958701090632, + 835.3780629861674, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 720.6958701090632, + 835.3780629861674, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 720.6958701090632, + 835.3780629861674, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 752.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-36-52_213801961/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-36-52_213801961/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45460c403745a4c9eb6bd1a15dcb1342d5901e95 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-36-52_213801961/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 904.2779741203639, + 630.0036930978364, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 904.2779741203639, + 630.0036930978364, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 904.2779741203639, + 630.0036930978364, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 904.2779741203639, + 630.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 904.2779741203639, + 627.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 904.2779741203639, + 624.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 904.2779741203639, + 621.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 904.2779741203639, + 618.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 904.2779741203639, + 615.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 904.2779741203639, + 612.0036930978364, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 904.2779741203639, + 612.0036930978364, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 904.2779741203639, + 612.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 901.6798979090106, + 610.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 899.0818216976572, + 609.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 896.4837454863039, + 607.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 893.8856692749505, + 606.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 891.2875930635971, + 604.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 888.6895168522437, + 603.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 886.0914406408904, + 601.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 883.493364429537, + 600.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 880.8952882181836, + 598.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 878.2972120068303, + 597.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 875.6991357954769, + 595.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 873.1010595841235, + 594.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 870.5029833727701, + 592.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 867.9049071614168, + 591.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 865.3068309500634, + 589.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 862.70875473871, + 588.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 860.1106785273566, + 586.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 857.5126023160033, + 585.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 854.9145261046499, + 583.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 852.3164498932965, + 582.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 849.7183736819431, + 580.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 847.1202974705898, + 579.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 844.5222212592364, + 577.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 841.924145047883, + 576.0036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 839.3260688365297, + 574.5036930978364, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 839.3260688365297, + 574.5036930978364, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 837.8260688365297, + 571.9056168864831, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 836.3260688365297, + 569.3075406751298, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 834.8260688365297, + 566.7094644637764, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 833.3260688365297, + 564.111388252423, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 831.8260688365297, + 561.5133120410696, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 830.3260688365297, + 558.9152358297163, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 828.8260688365297, + 556.3171596183629, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 828.8260688365297, + 556.3171596183629, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 828.8260688365297, + 556.3171596183629, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 828.8260688365297, + 556.3171596183629, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + 540.0, + -29.2417 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-40-46_1486222842/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-40-46_1486222842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c80b211654377f1c49695e375bcf5b855f70b85 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-40-46_1486222842/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 77.79150894001216, + 401.45364867366044, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.79150894001216, + 401.45364867366044, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 77.79150894001216, + 401.45364867366044, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 77.79150894001216, + 401.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 75.19343272865885, + 399.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 72.59535651730553, + 398.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.99728030595222, + 396.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.3992040945989, + 395.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 64.80112788324558, + 393.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 62.20305167189227, + 392.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 59.60497546053895, + 390.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 57.006899249185636, + 389.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 54.40882303783232, + 387.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 51.810746826479004, + 386.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 49.21267061512569, + 384.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 46.61459440377237, + 383.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 44.016518192419056, + 381.95364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 41.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 41.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 38.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 35.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 29.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 26.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 23.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 20.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 17.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 14.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 11.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 8.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 5.41844198106574, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2.4184419810657403, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -0.5815580189342597, + 380.45364867366044, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -3.5815580189342597, + 380.45364867366044, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -3.5815580189342597, + 380.45364867366044, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -3.5815580189342597, + 380.45364867366044, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -3.5815580189342597, + 380.45364867366044, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-41-39_1545032460/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-41-39_1545032460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eca9f45df9b0442cc2b9633387b0f67dac80765 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-41-39_1545032460/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1261.6578736292763, + 951.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1259.059797417923, + 949.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1256.4617212065696, + 948.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1253.8636449952162, + 946.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1251.2655687838628, + 945.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1248.6674925725094, + 943.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1246.069416361156, + 942.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1243.4713401498027, + 940.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1240.8732639384493, + 939.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1238.275187727096, + 937.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1235.6771115157426, + 936.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1233.0790353043892, + 934.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1230.4809590930358, + 933.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1227.8828828816825, + 931.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1225.284806670329, + 930.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1222.6867304589757, + 928.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1220.0886542476223, + 927.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1217.490578036269, + 925.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1214.8925018249156, + 924.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1212.2944256135622, + 922.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1209.6963494022089, + 921.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1207.0982731908555, + 919.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1204.500196979502, + 918.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1201.9021207681487, + 916.9877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1199.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1199.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1196.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1193.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1190.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1187.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1184.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1184.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1184.3040445567954, + 915.4877548526885, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1182.8040445567954, + 912.8896786413352, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1140.0, + 892.0, + 1.05541 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-43-3_1277849958/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-43-3_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0872d1444cadac3bbff80f88847520c500c1f821 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-43-3_1277849958/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -88.44009628498182, + 488.58330279616007, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -88.44009628498182, + 488.58330279616007, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -88.44009628498182, + 488.58330279616007, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -88.44009628498182, + 488.58330279616007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.44009628498182, + 488.58330279616007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -94.44009628498182, + 488.58330279616007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -97.44009628498182, + 488.58330279616007, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -97.44009628498182, + 488.58330279616007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -100.03817249633514, + 490.08330279616007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -102.63624870768845, + 491.58330279616007, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.63624870768845, + 491.58330279616007, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.63624870768845, + 491.58330279616007, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.63624870768845, + 491.58330279616007, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + 516.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-45_1498617647/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-45_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4a06f37af1dde54023560e82ae6d52662d0725e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-45_1498617647/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -186.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -183.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -180.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -177.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -174.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -171.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -168.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -165.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -165.1164297042376, + -252.6030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -162.51835349288427, + -254.1030315415984, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -162.51835349288427, + -254.1030315415984, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -161.01835349288427, + -256.7011077529517, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.51835349288427, + -259.29918396430503, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -159.51835349288427, + -259.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -156.92027728153096, + -260.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -154.32220107017764, + -262.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -151.72412485882433, + -263.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -149.126048647471, + -265.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -146.5279724361177, + -266.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -143.92989622476438, + -268.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -141.33182001341106, + -269.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -138.73374380205775, + -271.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -136.13566759070443, + -272.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -133.5375913793511, + -274.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -130.9395151679978, + -275.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -128.34143895664448, + -277.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -125.74336274529117, + -278.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -123.14528653393785, + -280.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -120.54721032258453, + -281.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -117.94913411123122, + -283.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -115.3510578998779, + -284.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -112.75298168852459, + -286.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -110.15490547717127, + -287.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -107.55682926581795, + -289.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -104.95875305446464, + -290.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -102.36067684311132, + -292.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -99.762600631758, + -293.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -97.16452442040469, + -295.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -94.56644820905137, + -296.79918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -91.96837199769806, + -298.29918396430503, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -91.96837199769806, + -298.29918396430503, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -90.46837199769806, + -300.89726017565835, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + -316.0, + -30.1698 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-5_1473144500/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-5_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e557f3b9c3d0862b0f6c36e7feeb8cf97f4eb6f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-49-5_1473144500/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1471.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1474.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1477.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1480.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1483.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1483.244569660133, + -306.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1485.8426458714864, + -304.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1488.4407220828398, + -303.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1491.0387982941932, + -301.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1493.6368745055465, + -300.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1496.2349507169, + -298.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1498.8330269282533, + -297.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1501.4311031396066, + -295.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1504.02917935096, + -294.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1506.6272555623134, + -292.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1509.2253317736668, + -291.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1511.8234079850201, + -289.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1514.4214841963735, + -288.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1517.0195604077269, + -286.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1519.6176366190803, + -285.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1522.2157128304336, + -283.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1524.813789041787, + -282.3255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1527.4118652531404, + -280.8255194113321, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1530.0099414644937, + -279.3255194113321, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + -268.0, + -6.14624 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-5-34_1069755936/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-5-34_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20077ddbe80c1e73f41444798dd5d08cc9c4d4a3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-5-34_1069755936/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 715.8907437164414, + 630.8200286202818, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 715.8907437164414, + 630.8200286202818, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 715.8907437164414, + 630.8200286202818, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 715.8907437164414, + 630.8200286202818, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 717.3907437164414, + 633.4181048316352, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 718.8907437164414, + 636.0161810429886, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 720.3907437164414, + 638.614257254342, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 721.8907437164414, + 641.2123334656953, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 721.8907437164414, + 641.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 721.8907437164414, + 644.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 721.8907437164414, + 647.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 721.8907437164414, + 650.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 721.8907437164414, + 653.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 721.8907437164414, + 656.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 721.8907437164414, + 659.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 721.8907437164414, + 662.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 721.8907437164414, + 665.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 721.8907437164414, + 668.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 721.8907437164414, + 671.2123334656953, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 721.8907437164414, + 671.2123334656953, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 723.3907437164414, + 673.8104096770487, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 724.8907437164414, + 676.4084858884021, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 726.3907437164414, + 679.0065620997555, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 727.8907437164414, + 681.6046383111088, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 729.3907437164414, + 684.2027145224622, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 730.8907437164414, + 686.8007907338156, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 732.3907437164414, + 689.398866945169, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 733.8907437164414, + 691.9969431565223, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 735.3907437164414, + 694.5950193678757, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 736.8907437164414, + 697.1930955792291, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 738.3907437164414, + 699.7911717905824, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 738.3907437164414, + 699.7911717905824, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 740.9888199277948, + 701.2911717905824, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 740.9888199277948, + 701.2911717905824, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 740.9888199277948, + 701.2911717905824, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 740.9888199277948, + 701.2911717905824, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 752.0, + 728.0, + -30.3064 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-52-32_1380171692/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-52-32_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06db7750d3e46b282c2684d0d882e2af0924e9b9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-52-32_1380171692/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 659.1973441320995, + 523.5035854239279, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 660.6973441320995, + 520.9055092125745, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 662.1973441320995, + 518.3074330012212, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 663.6973441320995, + 515.7093567898678, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 665.1973441320995, + 513.1112805785144, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 666.6973441320995, + 510.5132043671611, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 668.1973441320995, + 507.9151281558078, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 669.6973441320995, + 505.3170519444545, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 671.1973441320995, + 502.71897573310116, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.6973441320995, + 500.12089952174784, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 674.1973441320995, + 497.52282331039453, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 675.6973441320995, + 494.9247470990412, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 677.1973441320995, + 492.3266708876879, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 677.1973441320995, + 492.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 677.1973441320995, + 489.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 677.1973441320995, + 486.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 677.1973441320995, + 483.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 677.1973441320995, + 480.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 677.1973441320995, + 477.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 677.1973441320995, + 474.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 677.1973441320995, + 471.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 677.1973441320995, + 468.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 677.1973441320995, + 465.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 677.1973441320995, + 462.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 677.1973441320995, + 459.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 677.1973441320995, + 456.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 677.1973441320995, + 453.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 677.1973441320995, + 450.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 677.1973441320995, + 447.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 677.1973441320995, + 444.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 677.1973441320995, + 441.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 677.1973441320995, + 438.3266708876879, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 677.1973441320995, + 438.3266708876879, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 678.6973441320995, + 435.7285946763346, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 680.1973441320995, + 433.13051846498126, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 681.6973441320995, + 430.53244225362795, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 683.1973441320995, + 427.93436604227463, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 684.6973441320995, + 425.3362898309213, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 686.1973441320995, + 422.738213619568, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 687.6973441320995, + 420.1401374082147, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 689.1973441320995, + 417.54206119686137, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 400.0, + -0.375042 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-56-59_402903177/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-56-59_402903177/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c88367e40877e0d3b4556d91a103ac72b5725c3e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-56-59_402903177/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -150.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -147.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -144.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -138.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -135.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -132.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -129.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -126.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -123.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -117.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -114.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -111.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -111.42076012984748, + -183.79765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -108.82268391849416, + -185.29765809704372, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -108.82268391849416, + -185.29765809704372, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.32268391849416, + -187.89573430839704, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -105.82268391849416, + -190.49381051975035, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -104.32268391849416, + -193.09188673110367, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -104.32268391849416, + -193.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -101.72460770714085, + -194.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -99.12653149578753, + -196.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -96.52845528443422, + -197.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -93.9303790730809, + -199.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -91.33230286172758, + -200.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -88.73422665037427, + -202.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -86.13615043902095, + -203.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -83.53807422766764, + -205.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -80.93999801631432, + -206.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -78.341921804961, + -208.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -75.74384559360769, + -209.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -73.14576938225437, + -211.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -70.54769317090106, + -212.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -67.94961695954774, + -214.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -65.35154074819442, + -215.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -62.75346453684111, + -217.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -60.15538832548779, + -218.59188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -57.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -57.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -54.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -51.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -48.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -45.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -42.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -39.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -36.557312114134476, + -220.09188673110367, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -224.0, + -27.925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-57-42_932026304/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-57-42_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad4f1f63e28232935e6705af2b2944a126af2857 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-57-42_932026304/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 962.6710777733384, + 866.4639252803984, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 962.6710777733384, + 866.4639252803984, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 962.6710777733384, + 866.4639252803984, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 962.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 965.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 968.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 971.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 974.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 974.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 974.6710777733384, + 866.4639252803984, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 976.1710777733384, + 869.0620014917517, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 976.1710777733384, + 869.0620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 978.7691539846917, + 870.5620014917517, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 978.7691539846917, + 870.5620014917517, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 978.7691539846917, + 870.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 978.7691539846917, + 873.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 978.7691539846917, + 876.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 978.7691539846917, + 879.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 978.7691539846917, + 882.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 978.7691539846917, + 885.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 978.7691539846917, + 888.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 978.7691539846917, + 891.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 978.7691539846917, + 894.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 978.7691539846917, + 897.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 978.7691539846917, + 900.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 978.7691539846917, + 903.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 978.7691539846917, + 906.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 978.7691539846917, + 909.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 978.7691539846917, + 912.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 978.7691539846917, + 915.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 978.7691539846917, + 918.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 978.7691539846917, + 921.5620014917517, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 978.7691539846917, + 921.5620014917517, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 977.2691539846917, + 924.1600777031051, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 975.7691539846917, + 926.7581539144585, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 974.2691539846917, + 929.3562301258119, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 972.7691539846917, + 931.9543063371652, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 971.2691539846917, + 934.5523825485186, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 969.7691539846917, + 937.150458759872, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 968.2691539846917, + 939.7485349712254, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 966.7691539846917, + 942.3466111825787, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 965.2691539846917, + 944.9446873939321, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 963.7691539846917, + 947.5427636052855, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 962.2691539846917, + 950.1408398166388, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 960.7691539846917, + 952.7389160279922, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 959.2691539846917, + 955.3369922393456, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 957.7691539846917, + 957.935068450699, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 956.2691539846917, + 960.5331446620523, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 956.2691539846917, + 960.5331446620523, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 956.2691539846917, + 960.5331446620523, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 956.2691539846917, + 960.5331446620523, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 988.0, + 1.64774 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-21_696947386/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-21_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3b30539830e76c9980c37be00297e7a3741f5cb --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-21_696947386/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.1999717021793, + 228.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.7980479135326, + 227.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 356.39612412488594, + 225.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.99420033623926, + 224.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 361.5922765475926, + 222.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 364.1903527589459, + 221.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.7884289702992, + 219.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 369.3865051816525, + 218.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 371.98458139300584, + 216.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 374.58265760435916, + 215.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 377.1807338157125, + 213.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 379.7788100270658, + 212.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 382.3768862384191, + 210.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 384.9749624497724, + 209.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 387.57303866112574, + 207.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 390.17111487247905, + 206.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 392.76919108383237, + 204.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 395.3672672951857, + 203.32318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 397.965343506539, + 201.82318782169895, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 400.5634197178923, + 200.32318782169895, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 448.0, + 176.0, + -0.420975 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-44_1841585795/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-44_1841585795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43ffe7d7766009cf80e21d4fba4017458a10460e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-14-44_1841585795/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 965.5818729775536, + 192.17603021562007, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 965.5818729775536, + 192.17603021562007, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 965.5818729775536, + 192.17603021562007, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 965.5818729775536, + 192.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 965.5818729775536, + 195.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 965.5818729775536, + 198.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 965.5818729775536, + 201.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 965.5818729775536, + 204.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 965.5818729775536, + 207.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 965.5818729775536, + 210.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 965.5818729775536, + 213.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 965.5818729775536, + 216.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 965.5818729775536, + 219.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 965.5818729775536, + 222.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 965.5818729775536, + 225.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 965.5818729775536, + 228.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 965.5818729775536, + 231.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 965.5818729775536, + 234.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 965.5818729775536, + 237.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 965.5818729775536, + 240.17603021562007, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 965.5818729775536, + 240.17603021562007, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 964.0818729775536, + 242.7741064269734, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 962.5818729775536, + 245.3721826383267, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 961.0818729775536, + 247.97025884968002, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 959.5818729775536, + 250.56833506103334, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 958.0818729775536, + 253.16641127238665, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 956.5818729775536, + 255.76448748373997, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 955.0818729775536, + 258.3625636950933, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 953.5818729775536, + 260.9606399064466, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 952.0818729775536, + 263.5587161177999, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 950.5818729775536, + 266.15679232915323, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 950.5818729775536, + 266.15679232915323, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 950.5818729775536, + 266.15679232915323, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 950.5818729775536, + 266.15679232915323, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 944.0, + 292.0, + 1.52855 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f14dda4c3d78ffd7441d350e7a9bc1e532acd4b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1784.6939913000517, + 59.57183725462518, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1783.1939913000517, + 62.169913465978496, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1781.6939913000517, + 64.76798967733181, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1781.6939913000517, + 64.76798967733181, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1781.6939913000517, + 67.76798967733181, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1781.6939913000517, + 70.76798967733181, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1781.6939913000517, + 73.76798967733181, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1781.6939913000517, + 76.76798967733181, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 172.0, + 0.929306 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-2_389040743/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-2_389040743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7a44748cb995a6291ec55ebbc7b94a9aa018d7e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-2_389040743/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1459.4637946419477, + 507.1134143573088, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1459.4637946419477, + 507.1134143573088, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1459.4637946419477, + 507.1134143573088, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1459.4637946419477, + 507.1134143573088, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1457.9637946419477, + 504.51533814595547, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1456.4637946419477, + 501.91726193460215, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1454.9637946419477, + 499.31918572324884, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1453.4637946419477, + 496.7211095118955, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1451.9637946419477, + 494.1230333005422, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1450.4637946419477, + 491.5249570891889, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1448.9637946419477, + 488.9268808778356, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1447.4637946419477, + 486.32880466648226, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1445.9637946419477, + 483.73072845512894, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1444.4637946419477, + 481.1326522437756, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1444.4637946419477, + 481.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1444.4637946419477, + 478.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1444.4637946419477, + 475.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1444.4637946419477, + 472.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1444.4637946419477, + 469.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1444.4637946419477, + 466.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.4637946419477, + 463.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1444.4637946419477, + 460.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1444.4637946419477, + 457.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1444.4637946419477, + 454.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1444.4637946419477, + 451.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.4637946419477, + 448.1326522437756, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.4637946419477, + 448.1326522437756, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1444.4637946419477, + 448.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1441.8657184305944, + 446.6326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1439.267642219241, + 445.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1436.6695660078876, + 443.6326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1434.0714897965343, + 442.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1431.4734135851809, + 440.6326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1428.8753373738275, + 439.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1426.2772611624741, + 437.6326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1423.6791849511208, + 436.1326522437756, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1423.6791849511208, + 436.1326522437756, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1422.1791849511208, + 433.5345760324223, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1420.6791849511208, + 430.936499821069, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1419.1791849511208, + 428.3384236097157, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1417.6791849511208, + 425.74034739836236, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1416.1791849511208, + 423.14227118700904, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1414.6791849511208, + 420.5441949756557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1413.1791849511208, + 417.9461187643024, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1413.1791849511208, + 417.9461187643024, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1413.1791849511208, + 417.9461187643024, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1413.1791849511208, + 417.9461187643024, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-16-28_1402961682/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-16-28_1402961682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..791e55feb08bd72d46ee0de715e4acde65e2ab7c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-16-28_1402961682/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1916.4436161795056, + 79.6176032439599, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1916.4436161795056, + 79.6176032439599, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1916.4436161795056, + 79.6176032439599, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1916.4436161795056, + 79.6176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1919.041692390859, + 78.1176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1921.6397686022124, + 76.6176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1924.2378448135657, + 75.1176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1926.8359210249191, + 73.6176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1929.4339972362725, + 72.1176032439599, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1929.4339972362725, + 72.1176032439599, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1930.9339972362725, + 69.51952703260659, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1932.4339972362725, + 66.92145082125327, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1932.4339972362725, + 66.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1935.0320734476259, + 65.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1937.6301496589792, + 63.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1940.2282258703326, + 62.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1942.826302081686, + 60.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1945.4243782930394, + 59.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1948.0224545043927, + 57.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1950.620530715746, + 56.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1953.2186069270995, + 54.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1955.8166831384528, + 53.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1958.4147593498062, + 51.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1961.0128355611596, + 50.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1963.610911772513, + 48.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1966.2089879838663, + 47.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1968.8070641952197, + 45.92145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1971.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1971.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1974.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1977.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1980.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1983.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1986.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1989.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1992.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1995.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1998.405140406573, + 44.42145082125327, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1998.405140406573, + 44.42145082125327, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1998.405140406573, + 44.42145082125327, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1998.405140406573, + 44.42145082125327, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-19-13_1941690360/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-19-13_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e0a75d2b260cbe1043e38fc496f367e6bc20c08 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-19-13_1941690360/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1454.1940157286522, + 564.3424497103853, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1454.1940157286522, + 564.3424497103853, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1454.1940157286522, + 564.3424497103853, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1454.1940157286522, + 564.3424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1456.7920919400055, + 562.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1459.390168151359, + 561.3424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1461.9882443627123, + 559.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1464.5863205740657, + 558.3424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1467.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1467.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1470.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1473.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1476.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1479.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1482.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1482.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1482.184396785419, + 556.8424497103853, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1483.684396785419, + 554.244373499032, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1485.184396785419, + 551.6462972876786, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1486.684396785419, + 549.0482210763253, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1488.184396785419, + 546.4501448649719, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1489.684396785419, + 543.8520686536185, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1491.184396785419, + 541.2539924422651, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1491.184396785419, + 541.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1491.184396785419, + 538.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1491.184396785419, + 535.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1491.184396785419, + 532.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1491.184396785419, + 529.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1491.184396785419, + 526.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1491.184396785419, + 523.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1491.184396785419, + 520.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1491.184396785419, + 517.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1491.184396785419, + 514.2539924422651, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1491.184396785419, + 511.25399244226514, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1491.184396785419, + 508.25399244226514, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1491.184396785419, + 505.25399244226514, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1491.184396785419, + 502.25399244226514, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1491.184396785419, + 499.25399244226514, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1491.184396785419, + 499.25399244226514, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1491.184396785419, + 499.25399244226514, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1491.184396785419, + 499.25399244226514, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-2-57_1186090428/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-2-57_1186090428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8dc8fbbdd6aa48cff8f49e9fb7ecf364e845378e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-2-57_1186090428/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1601.4180558646751, + 268.47897892980563, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1601.4180558646751, + 268.47897892980563, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1601.4180558646751, + 268.47897892980563, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1601.4180558646751, + 268.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1601.4180558646751, + 265.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1601.4180558646751, + 262.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1601.4180558646751, + 259.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1601.4180558646751, + 256.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1601.4180558646751, + 253.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1601.4180558646751, + 250.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1601.4180558646751, + 247.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1601.4180558646751, + 244.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1601.4180558646751, + 241.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1601.4180558646751, + 238.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1601.4180558646751, + 235.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1601.4180558646751, + 232.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1601.4180558646751, + 229.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1601.4180558646751, + 226.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1601.4180558646751, + 223.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1601.4180558646751, + 220.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1601.4180558646751, + 217.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1601.4180558646751, + 214.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1601.4180558646751, + 211.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1601.4180558646751, + 208.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1601.4180558646751, + 205.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1601.4180558646751, + 202.47897892980563, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1601.4180558646751, + 202.47897892980563, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1601.4180558646751, + 202.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1604.0161320760285, + 200.97897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1606.6142082873819, + 199.47897892980563, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1606.6142082873819, + 199.47897892980563, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1608.1142082873819, + 196.88090271845232, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1608.1142082873819, + 196.88090271845232, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1608.1142082873819, + 196.88090271845232, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1608.1142082873819, + 196.88090271845232, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-20-45_1866000081/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-20-45_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f8efa575dea5c8fc5c66fbd581dc222fed6aecd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-20-45_1866000081/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 952.8712876415034, + 20.514059561837485, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 952.8712876415034, + 20.514059561837485, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 952.8712876415034, + 20.514059561837485, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 952.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 955.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 958.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 961.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 964.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 967.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 967.8712876415034, + 20.514059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 970.4693638528568, + 22.014059561837485, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 970.4693638528568, + 22.014059561837485, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 971.9693638528568, + 24.6121357731908, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 973.4693638528568, + 27.210211984544117, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 973.4693638528568, + 27.210211984544117, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 976.0674400642101, + 28.710211984544117, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 978.6655162755635, + 30.210211984544117, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 981.2635924869169, + 31.710211984544117, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 983.8616686982703, + 33.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 986.4597449096236, + 34.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 989.057821120977, + 36.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 991.6558973323304, + 37.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 994.2539735436837, + 39.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 996.8520497550371, + 40.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 999.4501259663905, + 42.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1002.0482021777439, + 43.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1004.6462783890972, + 45.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1007.2443546004506, + 46.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1009.842430811804, + 48.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1012.4405070231574, + 49.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1015.0385832345107, + 51.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1017.6366594458641, + 52.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1020.2347356572175, + 54.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1022.8328118685708, + 55.71021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1025.4308880799242, + 57.21021198454412, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1025.4308880799242, + 57.21021198454412, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1026.9308880799242, + 59.80828819589743, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1028.4308880799242, + 62.40636440725075, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1029.9308880799242, + 65.00444061860406, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1031.4308880799242, + 67.60251682995738, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1032.9308880799242, + 70.2005930413107, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1032.9308880799242, + 70.2005930413107, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1032.9308880799242, + 70.2005930413107, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1032.9308880799242, + 70.2005930413107, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 84.0, + -33.4368 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-3-55_1900553541/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-3-55_1900553541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275c1ed1505505c08139165012b769a96ca7b495 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-3-55_1900553541/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1789.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1786.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1783.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1780.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1777.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1774.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1771.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1768.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1765.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1762.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1759.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1756.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1753.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1750.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1747.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1744.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1741.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1738.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1735.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1732.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1729.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1726.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1723.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1720.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1717.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1714.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1711.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1711.8321605790695, + 718.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1709.2340843677162, + 720.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1706.6360081563628, + 721.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1704.0379319450094, + 723.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1701.439855733656, + 724.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1698.8417795223027, + 726.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1696.2437033109493, + 727.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1693.645627099596, + 729.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1691.0475508882425, + 730.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1688.4494746768892, + 732.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1685.8513984655358, + 733.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1683.2533222541824, + 735.1064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1680.655246042829, + 736.6064711788738, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1678.0571698314757, + 738.1064711788738, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 744.0, + -33.4369 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-30-32_1297893529/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-30-32_1297893529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19ed59e2c9338d8355f2393a7abc87d1423c56fb --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-30-32_1297893529/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 811.0836065082772, + 369.222724817838, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 811.0836065082772, + 369.222724817838, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 811.0836065082772, + 369.222724817838, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 811.0836065082772, + 369.222724817838, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 809.5836065082772, + 371.82080102919133, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 808.0836065082772, + 374.41887724054465, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 806.5836065082772, + 377.01695345189796, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 805.0836065082772, + 379.6150296632513, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 803.5836065082772, + 382.2131058746046, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 802.0836065082772, + 384.8111820859579, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 800.5836065082772, + 387.4092582973112, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 799.0836065082772, + 390.00733450866454, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 797.5836065082772, + 392.60541072001786, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 796.0836065082772, + 395.2034869313712, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 794.5836065082772, + 397.8015631427245, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 793.0836065082772, + 400.3996393540778, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 791.5836065082772, + 402.9977155654311, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 790.0836065082772, + 405.59579177678444, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 788.5836065082772, + 408.19386798813775, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 787.0836065082772, + 410.79194419949107, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 785.5836065082772, + 413.3900204108444, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 784.0836065082772, + 415.9880966221977, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 782.5836065082772, + 418.586172833551, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 781.0836065082772, + 421.18424904490433, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 779.5836065082772, + 423.78232525625765, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 778.0836065082772, + 426.38040146761097, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 776.5836065082772, + 428.9784776789643, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 775.0836065082772, + 431.5765538903176, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 773.5836065082772, + 434.1746301016709, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 773.5836065082772, + 434.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 770.9855302969238, + 435.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 768.3874540855704, + 437.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 765.789377874217, + 438.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 763.1913016628637, + 440.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 760.5932254515103, + 441.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 757.9951492401569, + 443.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 755.3970730288036, + 444.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 752.7989968174502, + 446.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 750.2009206060968, + 447.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 747.6028443947434, + 449.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 745.0047681833901, + 450.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 742.4066919720367, + 452.1746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 739.8086157606833, + 453.6746301016709, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 739.8086157606833, + 453.6746301016709, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 738.3086157606833, + 456.27270631302423, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 738.3086157606833, + 456.27270631302423, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 738.3086157606833, + 456.27270631302423, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 738.3086157606833, + 456.27270631302423, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 716.0, + 484.0, + -10.4721 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f902da9239926e3c034ae03c68afa657c86f6f8a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 374.3812706776455, + 326.6524259581141, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.3812706776455, + 326.6524259581141, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.3812706776455, + 326.6524259581141, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 377.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 395.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 398.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 401.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 404.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 404.3812706776455, + 326.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 406.9793468889988, + 328.1524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 409.5774231003521, + 329.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 412.17549931170544, + 331.1524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 414.77357552305875, + 332.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 417.37165173441207, + 334.1524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 419.9697279457654, + 335.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 422.5678041571187, + 337.1524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 425.165880368472, + 338.6524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 427.76395657982533, + 340.1524259581141, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 430.36203279117865, + 341.6524259581141, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 430.36203279117865, + 341.6524259581141, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 430.36203279117865, + 341.6524259581141, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 430.36203279117865, + 341.6524259581141, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 508.0, + 368.0, + 0.299706 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-41-8_887077888/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-41-8_887077888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..353ec4b07eb608148df1dea4cc987c8fe6e0588e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-41-8_887077888/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1753.8106392315558, + -142.01523293419294, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1753.8106392315558, + -142.01523293419294, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1753.8106392315558, + -142.01523293419294, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1753.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1750.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1747.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1744.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1741.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1738.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1735.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1732.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1729.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1726.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1723.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1720.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1717.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1714.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1711.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1711.8106392315558, + -142.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1709.2125630202024, + -143.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1706.614486808849, + -145.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1704.0164105974957, + -146.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1701.4183343861423, + -148.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1698.820258174789, + -149.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1696.2221819634356, + -151.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1693.6241057520822, + -152.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1691.0260295407288, + -154.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1688.4279533293754, + -155.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1685.829877118022, + -157.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1683.2318009066687, + -158.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1680.6337246953153, + -160.01523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1678.035648483962, + -161.51523293419294, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1675.4375722726086, + -163.01523293419294, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1675.4375722726086, + -163.01523293419294, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1675.4375722726086, + -163.01523293419294, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1675.4375722726086, + -163.01523293419294, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1648.0, + -168.0, + -26.6135 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-51-55_235745791/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-51-55_235745791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d48808b6d473ff1d900ea36a9a741131ef69a3a3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-51-55_235745791/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1344.4302272378814, + 297.33971279554913, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1345.9302272378814, + 299.93778900690245, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1347.4302272378814, + 302.53586521825576, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1348.9302272378814, + 305.1339414296091, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1350.4302272378814, + 307.7320176409624, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1351.9302272378814, + 310.3300938523157, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1353.4302272378814, + 312.92817006366903, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1354.9302272378814, + 315.52624627502234, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1356.4302272378814, + 318.12432248637566, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1357.9302272378814, + 320.722398697729, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1359.4302272378814, + 323.3204749090823, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1360.9302272378814, + 325.9185511204356, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1362.4302272378814, + 328.5166273317889, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1363.9302272378814, + 331.11470354314224, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1365.4302272378814, + 333.71277975449556, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1366.9302272378814, + 336.3108559658489, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1368.4302272378814, + 338.9089321772022, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1369.9302272378814, + 341.5070083885555, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1371.4302272378814, + 344.1050845999088, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1372.9302272378814, + 346.70316081126214, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1374.4302272378814, + 349.30123702261545, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1375.9302272378814, + 351.89931323396877, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1377.4302272378814, + 354.4973894453221, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1378.9302272378814, + 357.0954656566754, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1380.4302272378814, + 359.6935418680287, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1381.9302272378814, + 362.29161807938203, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1383.4302272378814, + 364.88969429073535, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1384.9302272378814, + 367.48777050208867, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1386.4302272378814, + 370.085846713442, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1387.9302272378814, + 372.6839229247953, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-52-37_427355115/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-52-37_427355115/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31617397268059da20e84cb44ac7accef910744b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-52-37_427355115/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1741.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1738.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1735.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1732.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1729.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1726.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1723.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1720.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1717.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1714.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1711.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1708.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1705.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1702.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1699.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1696.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1693.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1690.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1687.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1684.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1681.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1678.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1675.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1672.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1669.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1666.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1663.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1660.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1657.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1654.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1651.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1648.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1648.7227756057782, + 85.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1646.1246993944249, + 83.70903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1643.5266231830715, + 82.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1640.928546971718, + 80.70903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1638.3304707603647, + 79.20903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1635.7323945490114, + 77.70903525093742, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1633.134318337658, + 76.20903525093742, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + 76.0, + -29.3847 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-8-38_1543755629/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-8-38_1543755629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2dae6fcc258de0c8cd2b3aa167ad2fc24cd91701 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-8-38_1543755629/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1851.0173657659886, + 459.6795820978526, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1851.0173657659886, + 459.6795820978526, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1851.0173657659886, + 459.6795820978526, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1851.0173657659886, + 459.6795820978526, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1848.4192895546353, + 461.1795820978526, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1845.821213343282, + 462.6795820978526, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1843.2231371319285, + 464.1795820978526, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1843.2231371319285, + 464.1795820978526, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1843.2231371319285, + 464.1795820978526, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1843.2231371319285, + 464.1795820978526, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + 492.0, + -8.00905 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-23-38_151519934/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-23-38_151519934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03c2f25c49aee22e97dfd80cf01085897fe559ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-23-38_151519934/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.21545604024482, + -234.69273147944233, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -72.21545604024482, + -234.69273147944233, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.21545604024482, + -234.69273147944233, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.21545604024482, + -234.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -69.6173798288915, + -233.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -67.01930361753818, + -231.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -64.42122740618487, + -230.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -61.82315119483155, + -228.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.22507498347824, + -227.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -56.62699877212492, + -225.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.028922560771605, + -224.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -51.43084634941829, + -222.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -48.83277013806497, + -221.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -46.23469392671166, + -219.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -43.63661771535834, + -218.19273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -41.038541504005025, + -216.69273147944233, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -41.038541504005025, + -216.69273147944233, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.538541504005025, + -214.094655268089, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -38.038541504005025, + -211.4965790567357, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -36.538541504005025, + -208.89850284538238, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -36.538541504005025, + -208.89850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -33.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -33.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -30.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -27.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -24.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -21.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -18.94046529265171, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -15.940465292651709, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -12.940465292651709, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -9.940465292651709, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -6.940465292651709, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -3.9404652926517088, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -0.9404652926517088, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2.0595347073482912, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 5.059534707348291, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 8.059534707348291, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 11.059534707348291, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 14.059534707348291, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 17.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 20.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 23.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 26.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 26.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 26.05953470734829, + -207.39850284538238, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 27.55953470734829, + -204.80042663402907, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 29.05953470734829, + -202.20235042267575, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 30.55953470734829, + -199.60427421132243, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 32.05953470734829, + -197.00619799996912, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 33.55953470734829, + -194.4081217886158, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 35.05953470734829, + -191.81004557726249, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 35.05953470734829, + -191.81004557726249, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 35.05953470734829, + -191.81004557726249, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 35.05953470734829, + -191.81004557726249, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.0, + -184.0, + -30.1347 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-27-22_1464415775/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-27-22_1464415775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e7e58c4d3e4898aab33d263e9ebd146e452990 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-27-22_1464415775/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1496.35291304312, + 569.7149568704602, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1496.35291304312, + 566.7149568704602, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1496.35291304312, + 563.7149568704602, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1496.35291304312, + 560.7149568704602, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1496.35291304312, + 557.7149568704602, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-32-24_292423943/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-32-24_292423943/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90e3b01d0b05e198d2187d6e028a675449fb06f8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-32-24_292423943/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1595.3105598128257, + 812.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1595.3105598128257, + 809.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1595.3105598128257, + 806.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1595.3105598128257, + 803.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1595.3105598128257, + 800.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1595.3105598128257, + 797.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1595.3105598128257, + 794.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1595.3105598128257, + 791.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1595.3105598128257, + 788.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1595.3105598128257, + 785.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1595.3105598128257, + 782.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1595.3105598128257, + 779.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1595.3105598128257, + 776.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1595.3105598128257, + 773.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1595.3105598128257, + 770.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1595.3105598128257, + 767.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1595.3105598128257, + 764.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1595.3105598128257, + 761.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1595.3105598128257, + 758.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1595.3105598128257, + 755.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1595.3105598128257, + 752.4270473601587, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1595.3105598128257, + 749.4270473601587, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-35-18_1007277217/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-35-18_1007277217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7daa745ae38b6536b1ec66b759ace8f19300893 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-35-18_1007277217/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -9.809371929730048, + -471.8724858861627, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.309371929730048, + -469.27440967480936, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -12.809371929730048, + -466.67633346345605, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -14.309371929730048, + -464.07825725210273, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -15.809371929730048, + -461.4801810407494, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -17.309371929730048, + -458.8821048293961, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -18.809371929730048, + -456.2840286180428, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -20.309371929730048, + -453.68595240668947, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -21.809371929730048, + -451.08787619533615, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -23.309371929730048, + -448.48979998398283, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -24.809371929730048, + -445.8917237726295, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -26.309371929730048, + -443.2936475612762, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -27.809371929730048, + -440.6955713499229, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -29.309371929730048, + -438.09749513856957, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -30.809371929730048, + -435.49941892721625, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -32.30937192973005, + -432.90134271586294, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -33.80937192973005, + -430.3032665045096, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.80937192973005, + -430.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -36.407448141083364, + -428.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -39.00552435243668, + -427.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -41.603600563789996, + -425.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -44.20167677514331, + -424.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -46.79975298649663, + -422.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -49.397829197849944, + -421.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -51.99590540920326, + -419.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -54.593981620556576, + -418.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -57.19205783190989, + -416.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -59.79013404326321, + -415.3032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -62.388210254616524, + -413.8032665045096, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -62.388210254616524, + -413.8032665045096, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -63.888210254616524, + -411.2051902931563, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -380.0, + -1.13129 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-37-57_1751378130/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-37-57_1751378130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9716fb5c9c43c0c2be9f171838284a00b53fd9c8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-37-57_1751378130/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 474.5013005370381, + 295.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 474.5013005370381, + 298.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 474.5013005370381, + 301.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.5013005370381, + 304.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 474.5013005370381, + 307.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 474.5013005370381, + 310.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 474.5013005370381, + 313.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 474.5013005370381, + 316.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 474.5013005370381, + 319.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 474.5013005370381, + 322.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 474.5013005370381, + 325.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 474.5013005370381, + 328.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 474.5013005370381, + 331.47494976329506, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.5013005370381, + 331.47494976329506, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 473.0013005370381, + 334.0730259746484, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 471.5013005370381, + 336.6711021860017, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 470.0013005370381, + 339.269178397355, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 468.5013005370381, + 341.8672546087083, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + 440.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-38-39_1130698571/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-38-39_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..310365027e2ce166ab0090020d1e4e939fc5ef15 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-38-39_1130698571/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 718.1210833737587, + 978.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 718.1210833737587, + 981.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 718.1210833737587, + 984.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 718.1210833737587, + 987.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 718.1210833737587, + 990.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 718.1210833737587, + 993.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 718.1210833737587, + 996.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 718.1210833737587, + 999.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 718.1210833737587, + 1002.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 718.1210833737587, + 1005.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 718.1210833737587, + 1008.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 718.1210833737587, + 1011.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 718.1210833737587, + 1014.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 718.1210833737587, + 1017.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 718.1210833737587, + 1020.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 718.1210833737587, + 1023.3954781654987, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 718.1210833737587, + 1026.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 718.1210833737587, + 1029.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 718.1210833737587, + 1032.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 718.1210833737587, + 1035.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 718.1210833737587, + 1038.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 718.1210833737587, + 1041.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 718.1210833737587, + 1044.3954781654988, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 718.1210833737587, + 1044.3954781654988, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 716.6210833737587, + 1046.9935543768522, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 715.1210833737587, + 1049.5916305882056, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 713.6210833737587, + 1052.189706799559, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 712.1210833737587, + 1054.7877830109123, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 710.6210833737587, + 1057.3858592222657, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 709.1210833737587, + 1059.983935433619, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 707.6210833737587, + 1062.5820116449725, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 706.1210833737587, + 1065.1800878563258, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 704.6210833737587, + 1067.7781640676792, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 703.1210833737587, + 1070.3762402790326, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 701.6210833737587, + 1072.974316490386, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 700.1210833737587, + 1075.5723927017393, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 698.6210833737587, + 1078.1704689130927, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1104.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-43-2_1122336503/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-43-2_1122336503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63e09df09de6600b5682dc44f95debbbc292c004 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-43-2_1122336503/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1408.005129782223, + -154.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1408.005129782223, + -151.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1408.005129782223, + -148.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1408.005129782223, + -145.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1408.005129782223, + -142.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1408.005129782223, + -139.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1408.005129782223, + -136.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1408.005129782223, + -133.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1408.005129782223, + -130.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1408.005129782223, + -127.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1408.005129782223, + -124.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1408.005129782223, + -121.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1408.005129782223, + -118.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1408.005129782223, + -115.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1408.005129782223, + -112.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1408.005129782223, + -109.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1408.005129782223, + -106.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1408.005129782223, + -103.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1408.005129782223, + -100.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1408.005129782223, + -97.79796933163774, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1408.005129782223, + -94.79796933163774, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + -8.0, + -29.4591 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-44-15_1460082195/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-44-15_1460082195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35b35f2fbe8ee7d6267b7585ed0358ac5409d5e8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-44-15_1460082195/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1030.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1033.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1036.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1039.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1042.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1045.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1048.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1051.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1054.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1054.6715588073016, + 604.3715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1057.269635018655, + 602.8715178212284, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1057.269635018655, + 602.8715178212284, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1058.769635018655, + 600.2734416098751, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1060.269635018655, + 597.6753653985218, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1060.269635018655, + 597.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1062.8677112300084, + 596.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1065.4657874413617, + 594.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1068.063863652715, + 593.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1070.6619398640685, + 591.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1073.2600160754218, + 590.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1075.8580922867752, + 588.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1078.4561684981286, + 587.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1081.054244709482, + 585.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1083.6523209208353, + 584.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1086.2503971321887, + 582.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1088.848473343542, + 581.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1091.4465495548955, + 579.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1094.0446257662488, + 578.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1096.6427019776022, + 576.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1099.2407781889556, + 575.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1101.838854400309, + 573.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1104.4369306116623, + 572.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1107.0350068230157, + 570.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1109.633083034369, + 569.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1112.2311592457224, + 567.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1114.8292354570758, + 566.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1117.4273116684292, + 564.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1120.0253878797826, + 563.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1122.623464091136, + 561.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1125.2215403024893, + 560.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1127.8196165138427, + 558.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1130.417692725196, + 557.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1133.0157689365494, + 555.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1135.6138451479028, + 554.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1138.2119213592562, + 552.6753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1140.8099975706095, + 551.1753653985218, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1143.408073781963, + 549.6753653985218, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + 540.0, + -29.242 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-49-39_659639006/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-49-39_659639006/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e0c1147319dd26c223bf563ddaed304773f878f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-49-39_659639006/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 570.1463604306938, + 475.8096300193391, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 570.1463604306938, + 475.8096300193391, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.1463604306938, + 475.8096300193391, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 570.1463604306938, + 475.8096300193391, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 570.1463604306938, + 472.8096300193391, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 570.1463604306938, + 469.8096300193391, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 570.1463604306938, + 466.8096300193391, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 570.1463604306938, + 463.8096300193391, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 570.1463604306938, + 463.8096300193391, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 571.6463604306938, + 461.2115538079858, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 573.1463604306938, + 458.6134775966325, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 574.6463604306938, + 456.0154013852792, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 574.6463604306938, + 456.0154013852792, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 574.6463604306938, + 456.0154013852792, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 574.6463604306938, + 456.0154013852792, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 600.0, + 364.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-54-7_1290127955/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-54-7_1290127955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c62987902e04b455bc6d9906c472c552c21beaca --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-54-7_1290127955/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 281.1225775088627, + -235.1117648644648, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.1225775088627, + -235.1117648644648, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 281.1225775088627, + -235.1117648644648, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 281.1225775088627, + -235.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 278.5245012975094, + -236.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.9264250861561, + -238.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 273.32834887480277, + -239.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 270.73027266344945, + -241.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 268.13219645209614, + -242.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.5341202407428, + -244.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 262.9360440293895, + -245.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 260.3379678180362, + -247.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 257.7398916066829, + -248.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 255.14181539532956, + -250.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.54373918397624, + -251.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 249.94566297262293, + -253.1117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 247.3475867612696, + -254.6117648644648, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 244.7495105499163, + -256.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.15143433856298, + -257.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 239.55335812720966, + -259.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.95528191585635, + -260.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 234.35720570450303, + -262.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 231.75912949314971, + -263.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 229.1610532817964, + -265.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 226.56297707044308, + -266.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.96490085908977, + -268.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.36682464773645, + -269.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 218.76874843638313, + -271.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 216.17067222502982, + -272.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 213.5725960136765, + -274.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 210.9745198023232, + -275.61176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.37644359096987, + -277.11176486446476, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 208.37644359096987, + -277.11176486446476, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 206.87644359096987, + -279.7098410758181, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 205.37644359096987, + -282.3079172871714, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 203.87644359096987, + -284.9059934985247, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 202.37644359096987, + -287.504069709878, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 200.87644359096987, + -290.10214592123134, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 199.37644359096987, + -292.70022213258466, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 197.87644359096987, + -295.298298343938, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 196.37644359096987, + -297.8963745552913, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 196.37644359096987, + -297.8963745552913, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 196.37644359096987, + -297.8963745552913, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 196.37644359096987, + -297.8963745552913, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -316.0, + -29.9979 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-58-40_1763794427/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-58-40_1763794427/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f345a975c96a6b327aabdcd3c414e91a7e64900 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-58-40_1763794427/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1193.5654531345388, + -60.321892728161515, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1193.5654531345388, + -60.321892728161515, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1193.5654531345388, + -60.321892728161515, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1193.5654531345388, + -60.321892728161515, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1195.0654531345388, + -57.7238165168082, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1196.5654531345388, + -55.12574030545488, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1198.0654531345388, + -52.52766409410157, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1199.5654531345388, + -49.92958788274825, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1201.0654531345388, + -47.331511671394935, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1201.0654531345388, + -47.331511671394935, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1201.0654531345388, + -44.331511671394935, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1201.0654531345388, + -41.331511671394935, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1201.0654531345388, + -38.331511671394935, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1201.0654531345388, + -35.331511671394935, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1201.0654531345388, + -32.331511671394935, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1201.0654531345388, + -32.331511671394935, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1201.0654531345388, + -32.331511671394935, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1201.0654531345388, + -32.331511671394935, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1224.0, + 36.0, + -29.3652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-59-51_1003886059/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-59-51_1003886059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b41a99d8d59af491848662bbcadcbf5734793d4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-59-51_1003886059/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1382.970550707575, + 4.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1382.970550707575, + 7.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1382.970550707575, + 10.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.970550707575, + 13.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1382.970550707575, + 16.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1382.970550707575, + 19.018039270138274, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1382.970550707575, + 19.018039270138274, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1384.470550707575, + 21.61611548149159, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 140.0, + -29.4592 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-0-55_1038626924/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-0-55_1038626924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cf3d6f91d651aa857800fcd20dc3b7bf733b76e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-0-55_1038626924/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -45.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -42.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -39.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -36.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -33.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -30.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -27.94555044515363 + ], + "type": "up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1013.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1016.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1019.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1022.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1025.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1028.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1031.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1034.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1037.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1040.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1043.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1046.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1049.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1052.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1055.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1058.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1058.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1058.8382274803612, + -180.84872054156193, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1060.3382274803612, + -183.44679675291525, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1061.8382274803612, + -186.04487296426856, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1063.3382274803612, + -188.64294917562188, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1064.8382274803612, + -191.2410253869752, + -24.94555044515363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1064.8382274803612, + -191.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1067.4363036917146, + -192.7410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1070.034379903068, + -194.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1072.6324561144213, + -195.7410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1075.2305323257747, + -197.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1077.828608537128, + -198.7410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1080.4266847484814, + -200.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1083.0247609598348, + -201.7410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1085.6228371711882, + -203.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1088.2209133825415, + -204.7410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1090.818989593895, + -206.2410253869752, + -24.94555044515363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -24.94555044515363 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -27.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -30.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -33.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -36.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -39.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -42.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1093.4170658052483, + -207.7410253869752, + -45.94555044515363 + ], + "type": "down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -220.0, + -29.2418 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-1-8_10901063/pose.jsonl b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-1-8_10901063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..705d8366769cb9e9889e1e0fe4802b297acbfd92 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_5-1-8_10901063/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1777.345901100107, + 747.448086763149, + -45.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1777.345901100107, + 747.448086763149, + -42.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1777.345901100107, + 747.448086763149, + -39.018700075641036 + ], + "type": "up", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1777.345901100107, + 747.448086763149, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1778.845901100107, + 750.0461629745023, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1780.345901100107, + 752.6442391858557, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1781.845901100107, + 755.242315397209, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1783.345901100107, + 757.8403916085624, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1784.845901100107, + 760.4384678199158, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1786.345901100107, + 763.0365440312692, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1787.845901100107, + 765.6346202426225, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1789.345901100107, + 768.2326964539759, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1790.845901100107, + 770.8307726653293, + -36.018700075641036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1790.845901100107, + 770.8307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1793.4439773114605, + 772.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1796.0420535228138, + 773.8307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1798.6401297341672, + 775.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1801.2382059455206, + 776.8307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1803.836282156874, + 778.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1806.4343583682273, + 779.8307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1809.0324345795807, + 781.3307726653293, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1809.0324345795807, + 781.3307726653293, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1809.0324345795807, + 781.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1809.0324345795807, + 784.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1809.0324345795807, + 787.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1809.0324345795807, + 790.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1809.0324345795807, + 793.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1809.0324345795807, + 796.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1809.0324345795807, + 799.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1809.0324345795807, + 802.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1809.0324345795807, + 805.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1809.0324345795807, + 808.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1809.0324345795807, + 811.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1809.0324345795807, + 814.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1809.0324345795807, + 817.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1809.0324345795807, + 820.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1809.0324345795807, + 823.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1809.0324345795807, + 826.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1809.0324345795807, + 829.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1809.0324345795807, + 832.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1809.0324345795807, + 835.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1809.0324345795807, + 838.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1809.0324345795807, + 841.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1809.0324345795807, + 844.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1809.0324345795807, + 847.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1809.0324345795807, + 850.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1809.0324345795807, + 853.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1809.0324345795807, + 856.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1809.0324345795807, + 859.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1809.0324345795807, + 862.3307726653293, + -36.018700075641036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1809.0324345795807, + 862.3307726653293, + -36.018700075641036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1807.5324345795807, + 864.9288488766827, + -36.018700075641036 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1807.5324345795807, + 864.9288488766827, + -39.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1807.5324345795807, + 864.9288488766827, + -42.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1807.5324345795807, + 864.9288488766827, + -45.018700075641036 + ], + "type": "down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1812.0, + 892.0, + -28.2729 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +}