diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-01-18_23-43-11_87173/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-01-18_23-43-11_87173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f66aa10cdc6138bef09a791f6846bbd28a1d0e84 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-01-18_23-43-11_87173/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 488.50218740880126, + 555.5437882363552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.00218740880126, + 552.945712025002, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 491.50218740880126, + 550.3476358136486, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 493.00218740880126, + 547.7495596022952, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.50218740880126, + 545.1514833909418, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 496.00218740880126, + 542.5534071795885, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 497.50218740880126, + 539.9553309682351, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 499.00218740880126, + 537.3572547568817, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.50218740880126, + 534.7591785455284, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 502.00218740880126, + 532.161102334175, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 503.50218740880126, + 529.5630261228216, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 505.00218740880126, + 526.9649499114682, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 506.50218740880126, + 524.3668737001149, + 156.84788500608087 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 506.50218740880126, + 524.3668737001149, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 508.00218740880126, + 521.7687974887615, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 509.50218740880126, + 519.1707212774081, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 511.00218740880126, + 516.5726450660547, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 512.5021874088013, + 513.9745688547014, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965907 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 514.0021874088013, + 511.37649264334806, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 515.5021874088013, + 508.77841643199474, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 517.0021874088013, + 506.1803402206414, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 518.5021874088013, + 503.5822640092881, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 520.0021874088013, + 500.9841877979348, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 521.5021874088013, + 498.3861115865815, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 523.0021874088013, + 495.78803537522816, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 524.5021874088013, + 493.18995916387485, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 526.0021874088013, + 490.59188295252153, + 159.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 526.0021874088013, + 490.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 526.0021874088013, + 487.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 526.0021874088013, + 484.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 526.0021874088013, + 481.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 526.0021874088013, + 478.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 526.0021874088013, + 475.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 526.0021874088013, + 472.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 526.0021874088013, + 469.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 526.0021874088013, + 466.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 526.0021874088013, + 463.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 526.0021874088013, + 460.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 526.0021874088013, + 457.59188295252153, + 159.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 526.0021874088013, + 454.59188295252153, + 159.84788500608087 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 526.0021874088013, + 454.59188295252153, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 540.0, + 416.0, + 161.872 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-1-24_468703135/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-1-24_468703135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab2ef87386662d7ac5ad6e0b796b0fe7a775e9a6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-1-24_468703135/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 465.25182185132337, + -1082.9178338390927, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 463.75182185132337, + -1080.3197576277394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.25182185132337, + -1077.721681416386, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 460.75182185132337, + -1075.1236052050326, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 459.25182185132337, + -1072.5255289936792, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 457.75182185132337, + -1069.9274527823259, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 456.25182185132337, + -1067.3293765709725, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.75182185132337, + -1064.7313003596191, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 453.25182185132337, + -1062.1332241482658, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 451.75182185132337, + -1059.5351479369124, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 450.25182185132337, + -1056.937071725559, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 448.75182185132337, + -1054.3389955142056, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 447.25182185132337, + -1051.7409193028523, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 445.75182185132337, + -1049.142843091499, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 444.25182185132337, + -1046.5447668801455, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.75182185132337, + -1043.9466906687921, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 441.25182185132337, + -1041.3486144574388, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 439.75182185132337, + -1038.7505382460854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 438.25182185132337, + -1036.152462034732, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 436.75182185132337, + -1033.5543858233787, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 435.25182185132337, + -1030.9563096120253, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 433.75182185132337, + -1028.358233400672, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 432.25182185132337, + -1025.7601571893185, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 430.75182185132337, + -1023.1620809779652, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 429.25182185132337, + -1020.5640047666118, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 427.75182185132337, + -1017.9659285552584, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 426.25182185132337, + -1015.367852343905, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 424.75182185132337, + -1012.7697761325517, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 423.25182185132337, + -1010.1716999211983, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 421.75182185132337, + -1007.5736237098449, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 420.25182185132337, + -1004.9755474984916, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 418.75182185132337, + -1002.3774712871382, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 418.75182185132337, + -1002.3774712871382, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 416.15374563997005, + -1000.8774712871382, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 413.55566942861674, + -999.3774712871382, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 410.9575932172634, + -997.8774712871382, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 408.3595170059101, + -996.3774712871382, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 143.522 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-2-10_1801979802/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-2-10_1801979802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d495c0be9e209aadf78001f07fc173e73e02a656 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-2-10_1801979802/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -265.88480062805195, + 354.03217536952764, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -267.38480062805195, + 351.4340991581743, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -268.88480062805195, + 348.836022946821, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -270.38480062805195, + 346.2379467354677, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -271.88480062805195, + 343.63987052411437, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -273.38480062805195, + 341.04179431276106, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -274.88480062805195, + 338.44371810140774, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -276.38480062805195, + 335.8456418900544, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -277.88480062805195, + 333.2475656787011, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.38480062805195, + 330.6494894673478, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.88480062805195, + 328.0514132559945, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -282.38480062805195, + 325.45333704464116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -283.88480062805195, + 322.85526083328784, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.38480062805195, + 320.2571846219345, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -286.88480062805195, + 317.6591084105812, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -288.38480062805195, + 315.0610321992279, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -289.88480062805195, + 312.4629559878746, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -291.38480062805195, + 309.86487977652126, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -292.88480062805195, + 307.26680356516795, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -294.38480062805195, + 304.66872735381463, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -295.88480062805195, + 302.0706511424613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -297.38480062805195, + 299.472574931108, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -298.88480062805195, + 296.8744987197547, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -300.38480062805195, + 294.27642250840137, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 256.0, + 154.563 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-21-42_356426808/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-21-42_356426808/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e43c945c3141333e350868e17e93b6d7b61b3cda --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-21-42_356426808/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 142.9442260629399, + 894.2483295137024, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 141.4442260629399, + 891.650253302349, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 139.9442260629399, + 889.0521770909957, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 138.4442260629399, + 886.4541008796423, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 136.9442260629399, + 883.8560246682889, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 135.4442260629399, + 881.2579484569355, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 133.9442260629399, + 878.6598722455822, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 132.4442260629399, + 876.0617960342288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.9442260629399, + 873.4637198228754, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 129.4442260629399, + 870.865643611522, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.94422606293989, + 868.2675674001687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 126.44422606293989, + 865.6694911888153, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 124.94422606293989, + 863.0714149774619, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 123.44422606293989, + 860.4733387661086, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 121.94422606293989, + 857.8752625547552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.44422606293989, + 855.2771863434018, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 118.94422606293989, + 852.6791101320484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 117.44422606293989, + 850.0810339206951, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 115.94422606293989, + 847.4829577093417, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.44422606293989, + 844.8848814979883, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 112.94422606293989, + 842.286805286635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 111.44422606293989, + 839.6887290752816, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 109.94422606293989, + 837.0906528639282, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 108.44422606293989, + 834.4925766525748, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 106.94422606293989, + 831.8945004412215, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 105.44422606293989, + 829.2964242298681, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 103.94422606293989, + 826.6983480185147, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 102.44422606293989, + 824.1002718071613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 100.94422606293989, + 821.502195595808, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-35-49_221558440/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-35-49_221558440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daa5a906d3f476735afe40b4ead8b7dfb79832bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-35-49_221558440/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 13.517606157703575, + 744.5425912163718, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 15.017606157703575, + 741.9445150050185, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 16.517606157703575, + 739.3464387936651, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 18.017606157703575, + 736.7483625823118, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 19.517606157703575, + 734.1502863709584, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.017606157703575, + 731.552210159605, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 22.517606157703575, + 728.9541339482516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 24.017606157703575, + 726.3560577368983, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 25.517606157703575, + 723.7579815255449, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 27.017606157703575, + 721.1599053141915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.517606157703575, + 718.5618291028381, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 30.017606157703575, + 715.9637528914848, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 31.517606157703575, + 713.3656766801314, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.017606157703575, + 710.767600468778, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 34.517606157703575, + 708.1695242574247, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 36.017606157703575, + 705.5714480460713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 37.517606157703575, + 702.9733718347179, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 39.017606157703575, + 700.3752956233645, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 40.517606157703575, + 697.7772194120112, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 40.517606157703575, + 697.7772194120112, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.11568236905689, + 696.2772194120112, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.71375858041021, + 694.7772194120112, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 189.14 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-40-22_524872353/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-40-22_524872353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4757f8c7b3252528e4f3d63005ea32ee341414d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-40-22_524872353/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 666.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 663.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 660.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 657.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 654.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 651.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 648.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 645.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 642.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 639.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 636.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 633.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 630.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 627.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 627.712579164718, + 640.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 625.1145029533648, + 642.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 622.5164267420114, + 643.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 619.918350530658, + 645.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 617.3202743193046, + 646.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 614.7221981079513, + 648.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 612.1241218965979, + 649.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 609.5260456852445, + 651.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 606.9279694738912, + 652.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 604.3298932625378, + 654.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 601.7318170511844, + 655.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 599.133740839831, + 657.0674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 596.5356646284777, + 658.5674705174224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 593.9375884171243, + 660.0674705174224, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + 668.0, + 143.189 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-0-54_1239036029/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-0-54_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdd373c0a721f5d1529c914420c9e4cac5dff8d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-0-54_1239036029/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 972.6915151490854, + -1731.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 970.0934389377321, + -1732.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 967.4953627263787, + -1734.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 964.8972865150254, + -1735.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 962.299210303672, + -1737.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 959.7011340923186, + -1738.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 957.1030578809653, + -1740.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 954.5049816696119, + -1741.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 951.9069054582585, + -1743.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 949.3088292469051, + -1744.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 946.7107530355518, + -1746.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 944.1126768241984, + -1747.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 941.514600612845, + -1749.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 938.9165244014916, + -1750.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 936.3184481901383, + -1752.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 933.7203719787849, + -1753.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 931.1222957674315, + -1755.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 928.5242195560782, + -1756.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 925.9261433447248, + -1758.0508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 923.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 923.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 920.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 917.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 914.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 911.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 908.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 905.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 902.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 896.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 893.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 890.3280671333714, + -1759.5508676846357, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + -1768.0, + 146.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-22-47_1494613810/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-22-47_1494613810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe5549b071555da477dd85afb59a63d4dfab2e82 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-22-47_1494613810/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 375.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 378.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 381.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 384.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 387.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 393.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 396.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 399.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 402.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 405.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 408.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 417.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 420.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 423.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 426.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 429.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 432.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 435.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 441.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 444.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 447.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 450.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 453.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 453.1433070735894, + 488.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 455.74138328494274, + 489.567560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 458.33945949629606, + 491.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 460.9375357076494, + 492.567560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 463.5356119190027, + 494.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 466.133688130356, + 495.567560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 468.7317643417093, + 497.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 471.32984055306264, + 498.567560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 473.92791676441595, + 500.067560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 476.52599297576927, + 501.567560247377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 479.1240691871226, + 503.067560247377, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 153.926 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-4-12_2103318776/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-4-12_2103318776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c696dd46104b2ef2eb086f3cb8924f39401eed7c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-4-12_2103318776/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 72.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 75.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 81.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 84.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 93.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 102.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 105.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 111.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 114.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 117.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 120.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 126.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 129.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 132.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 135.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 138.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 141.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 144.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 147.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 150.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 153.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 156.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 159.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 162.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 165.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 168.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 171.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 171.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 171.74898917674233, + 198.38821810263687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 173.24898917674233, + 195.79014189128355, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 174.74898917674233, + 193.19206567993024, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 176.24898917674233, + 190.59398946857692, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 176.24898917674233, + 190.59398946857692, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 178.84706538809564, + 189.09398946857692, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 181.44514159944896, + 187.59398946857692, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-1-24_1046741222/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-1-24_1046741222/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1561be0d4459f97d0ed358272744dec3b4c1c514 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-1-24_1046741222/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 281.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 287.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 290.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 293.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 296.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 305.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 308.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 311.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 317.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 320.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 323.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 329.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 335.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 341.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 344.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 347.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 350.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 353.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 356.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 359.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 362.9158995775449, + -966.2987600410399, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 143.522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-31-11_425245975/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-31-11_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..906d96e40cc877ad1bd753e7e32de14144da065c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-31-11_425245975/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1085.5598381988007, + -25.543566520129303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1088.157914410154, + -27.043566520129303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1090.7559906215074, + -28.543566520129303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1093.3540668328608, + -30.043566520129303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1095.9521430442142, + -31.543566520129303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1098.5502192555675, + -33.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1101.148295466921, + -34.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1103.7463716782743, + -36.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1106.3444478896276, + -37.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1108.942524100981, + -39.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1111.5406003123344, + -40.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1114.1386765236878, + -42.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1116.7367527350411, + -43.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1119.3348289463945, + -45.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1121.9329051577479, + -46.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1124.5309813691013, + -48.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1127.1290575804546, + -49.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1129.727133791808, + -51.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1132.3252100031614, + -52.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1134.9232862145147, + -54.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1137.5213624258681, + -55.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1140.1194386372215, + -57.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1142.7175148485749, + -58.5435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1145.3155910599282, + -60.0435665201293, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1145.3155910599282, + -60.0435665201293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1146.8155910599282, + -62.64164273148262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1148.3155910599282, + -65.23971894283594, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1149.8155910599282, + -67.83779515418925, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1151.3155910599282, + -70.43587136554257, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1152.8155910599282, + -73.03394757689588, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1154.3155910599282, + -75.6320237882492, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1155.8155910599282, + -78.23009999960252, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 146.675 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-44-0_860516127/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-44-0_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2d927e25323fc06d3c6e6218de750b31273fe43 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-44-0_860516127/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 793.4809976966451, + -1119.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 790.8829214852917, + -1117.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 788.2848452739383, + -1116.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 785.686769062585, + -1114.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 783.0886928512316, + -1113.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 780.4906166398782, + -1111.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 777.8925404285249, + -1110.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 775.2944642171715, + -1108.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 772.6963880058181, + -1107.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 770.0983117944647, + -1105.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 767.5002355831114, + -1104.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 764.902159371758, + -1102.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 762.3040831604046, + -1101.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 759.7060069490512, + -1099.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 757.1079307376979, + -1098.0588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 754.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 754.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 751.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 748.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 745.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 742.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 739.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 736.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 733.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 730.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 727.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 724.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 721.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 718.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 715.5098545263445, + -1096.5588341683635, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-26-55_2039723618/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-26-55_2039723618/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..394552c37cb27c9ba7d207aebc3e88afdbbb73ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-26-55_2039723618/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 748.9673032657923, + 893.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 746.3692270544391, + 894.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 743.7711508430857, + 896.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 741.1730746317323, + 897.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 738.574998420379, + 899.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 735.9769222090256, + 900.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 733.3788459976722, + 902.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 730.7807697863188, + 903.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 728.1826935749655, + 905.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 725.5846173636121, + 906.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 722.9865411522587, + 908.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 720.3884649409054, + 909.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 717.790388729552, + 911.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 715.1923125181986, + 912.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 712.5942363068452, + 914.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 709.9961600954919, + 915.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 707.3980838841385, + 917.2048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 704.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 704.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 701.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 698.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 695.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 692.8000076727851, + 918.7048811313387, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-30-36_2069110699/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-30-36_2069110699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34d8ddc6a08035055c1919af63e47bc58f15dea1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-30-36_2069110699/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 476.3758546455599, + 1039.769315248481, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 477.8758546455599, + 1037.1712390371276, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 479.3758546455599, + 1034.5731628257743, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 480.8758546455599, + 1031.975086614421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 482.3758546455599, + 1029.3770104030675, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 483.8758546455599, + 1026.7789341917141, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.3758546455599, + 1024.1808579803608, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.8758546455599, + 1021.5827817690074, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 488.3758546455599, + 1018.984705557654, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 489.8758546455599, + 1016.3866293463007, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 491.3758546455599, + 1013.7885531349473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 492.8758546455599, + 1011.1904769235939, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 494.3758546455599, + 1008.5924007122405, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 495.8758546455599, + 1005.9943245008872, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.3758546455599, + 1003.3962482895338, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 498.8758546455599, + 1000.7981720781804, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 500.3758546455599, + 998.200095866827, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 501.8758546455599, + 995.6020196554737, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 503.3758546455599, + 993.0039434441203, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 504.8758546455599, + 990.4058672327669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 506.3758546455599, + 987.8077910214135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 507.8758546455599, + 985.2097148100602, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 509.3758546455599, + 982.6116385987068, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 510.8758546455599, + 980.0135623873534, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 512.3758546455599, + 977.4154861760001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 513.8758546455599, + 974.8174099646467, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 515.3758546455599, + 972.2193337532933, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 516.8758546455599, + 969.6212575419399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 518.3758546455599, + 967.0231813305866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 519.8758546455599, + 964.4251051192332, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 521.3758546455599, + 961.8270289078798, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 522.8758546455599, + 959.2289526965264, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 524.3758546455599, + 956.6308764851731, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 525.8758546455599, + 954.0328002738197, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 525.8758546455599, + 954.0328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 528.4739308569133, + 952.5328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 531.0720070682667, + 951.0328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 533.67008327962, + 949.5328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 536.2681594909734, + 948.0328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 538.8662357023268, + 946.5328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 541.4643119136801, + 945.0328002738197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 544.0623881250335, + 943.5328002738197, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 216.131 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-32-9_1190668363/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-32-9_1190668363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0915f804170721539f6e33f7a178492318cd896a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-32-9_1190668363/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 718.8018480405752, + 1047.2438524444738, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 717.3018480405752, + 1044.6457762331204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 715.8018480405752, + 1042.047700021767, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 714.3018480405752, + 1039.4496238104136, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 712.8018480405752, + 1036.8515475990603, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 711.3018480405752, + 1034.253471387707, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 709.8018480405752, + 1031.6553951763535, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 708.3018480405752, + 1029.0573189650001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 706.8018480405752, + 1026.4592427536468, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 705.3018480405752, + 1023.8611665422934, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 703.8018480405752, + 1021.26309033094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 702.3018480405752, + 1018.6650141195867, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 700.8018480405752, + 1016.0669379082333, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 699.3018480405752, + 1013.4688616968799, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 697.8018480405752, + 1010.8707854855265, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 696.3018480405752, + 1008.2727092741732, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 694.8018480405752, + 1005.6746330628198, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 693.3018480405752, + 1003.0765568514664, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 691.8018480405752, + 1000.478480640113, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 690.3018480405752, + 997.8804044287597, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 688.8018480405752, + 995.2823282174063, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 687.3018480405752, + 992.6842520060529, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 685.8018480405752, + 990.0861757946996, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 684.3018480405752, + 987.4880995833462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 682.8018480405752, + 984.8900233719928, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 681.3018480405752, + 982.2919471606394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 679.8018480405752, + 979.6938709492861, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 678.3018480405752, + 977.0957947379327, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 676.8018480405752, + 974.4977185265793, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 675.3018480405752, + 971.899642315226, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 673.8018480405752, + 969.3015661038726, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-34-22_1968217462/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-34-22_1968217462/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..addf2485eb3aa8275e2ccaaf7f291232a6eaa471 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-34-22_1968217462/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 409.07179601495704, + -200.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.66987222631036, + -199.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.2679484376637, + -197.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 416.866024649017, + -196.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 419.4641008603703, + -194.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 422.0621770717236, + -193.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 424.66025328307694, + -191.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 427.25832949443026, + -190.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 429.8564057057836, + -188.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 432.4544819171369, + -187.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 435.0525581284902, + -185.53432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 437.6506343398435, + -184.03432639780763, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 437.6506343398435, + -184.03432639780763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 439.1506343398435, + -181.43625018645432, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 440.6506343398435, + -178.838173975101, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 442.1506343398435, + -176.24009776374768, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 443.6506343398435, + -173.64202155239437, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 445.1506343398435, + -171.04394534104105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.6506343398435, + -168.44586912968774, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 448.1506343398435, + -165.84779291833442, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.6506343398435, + -163.2497167069811, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 451.1506343398435, + -160.6516404956278, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 451.1506343398435, + -160.6516404956278, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 453.74871055119684, + -159.1516404956278, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-4-25_1630634994/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-4-25_1630634994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..712089c3508066bf3a9c0f75efbfc64b9f41985e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-4-25_1630634994/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 630.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 627.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 624.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 621.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 618.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 615.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 612.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 609.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 606.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 603.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 600.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 594.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 591.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 588.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 585.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 582.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 579.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 576.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 573.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 570.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 567.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 564.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 561.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 558.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 555.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 552.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 549.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 546.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 543.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 540.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 537.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 534.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 531.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 528.140524138157, + -129.58405903217744, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-5-35_564325578/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-5-35_564325578/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..860d55ce7c5c7e996dea3deec4e691a07fab5126 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-5-35_564325578/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.86598903199115, + 164.83655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 287.26791282063783, + 166.33655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.6698366092845, + 167.83655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.0717603979312, + 169.33655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.4736841865779, + 170.83655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 276.87560797522457, + 172.33655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.27753176387125, + 173.83655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 271.67945555251794, + 175.33655645196552, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.0813793411646, + 176.83655645196552, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-50-22_606199759/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-50-22_606199759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bc9311328c24ac70ae68c5507a879633ae5e3fd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-50-22_606199759/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 736.6098614826025, + -1741.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 739.2079376939557, + -1742.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 741.8060139053091, + -1744.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 744.4040901166625, + -1745.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 747.0021663280158, + -1747.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 749.6002425393692, + -1748.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 752.1983187507226, + -1750.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 754.796394962076, + -1751.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 757.3944711734293, + -1753.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 759.9925473847827, + -1754.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 762.5906235961361, + -1756.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 765.1886998074895, + -1757.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 767.7867760188428, + -1759.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 770.3848522301962, + -1760.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 772.9829284415496, + -1762.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.581004652903, + -1763.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 778.1790808642563, + -1765.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 780.7771570756097, + -1766.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.3752332869631, + -1768.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 785.9733094983164, + -1769.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 788.5713857096698, + -1771.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 791.1694619210232, + -1772.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 793.7675381323766, + -1774.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 796.3656143437299, + -1775.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 798.9636905550833, + -1777.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 801.5617667664367, + -1778.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 804.15984297779, + -1780.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.7579191891434, + -1781.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 809.3559954004968, + -1783.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 811.9540716118502, + -1784.697244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 814.5521478232035, + -1786.197244009669, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 814.5521478232035, + -1786.197244009669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 816.0521478232035, + -1788.7953202210224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 817.5521478232035, + -1791.3933964323758, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 819.0521478232035, + -1793.9914726437291, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 820.5521478232035, + -1796.5895488550825, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 822.0521478232035, + -1799.1876250664359, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 822.0521478232035, + -1799.1876250664359, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 824.6502240345569, + -1800.6876250664359, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-32_927376882/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-32_927376882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51ae1a7c4192450f76bd5c42a144833f374e3082 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-32_927376882/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.894007663827, + 736.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 326.894007663827, + 739.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 326.894007663827, + 742.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 326.894007663827, + 745.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.894007663827, + 748.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.894007663827, + 751.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 326.894007663827, + 754.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 326.894007663827, + 757.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 326.894007663827, + 760.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 326.894007663827, + 763.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 326.894007663827, + 766.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.894007663827, + 769.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.894007663827, + 772.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.894007663827, + 775.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 326.894007663827, + 778.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.894007663827, + 781.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.894007663827, + 784.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.894007663827, + 787.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.894007663827, + 790.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.894007663827, + 793.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.894007663827, + 796.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.894007663827, + 799.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.894007663827, + 802.9760551118482, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.894007663827, + 802.9760551118482, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.894007663827, + 802.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 329.4920838751803, + 804.4760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 332.0901600865336, + 805.9760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 334.68823629788693, + 807.4760551118482, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.68823629788693, + 807.4760551118482, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.18823629788693, + 810.0741313232015, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 337.68823629788693, + 812.6722075345549, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-8-54_1314218593/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-8-54_1314218593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b35b7ca12a0b5da44ce6482a67cfaf2de7d7a587 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-8-54_1314218593/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 359.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 356.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 353.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 350.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 347.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 344.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 341.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 338.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 335.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 332.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 329.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 320.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 317.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 314.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 308.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 305.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 302.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 299.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 296.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 293.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 290.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 287.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 284.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 281.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 278.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 275.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 272.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 272.3446460750204, + 195.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 269.7465698636671, + 196.5102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 267.1484936523138, + 198.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 264.5504174409605, + 199.5102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 261.95234122960716, + 201.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 259.35426501825384, + 202.5102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 256.7561888069005, + 204.0102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 254.1581125955472, + 205.5102817603127, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 251.5600363841939, + 207.0102817603127, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 212.0, + 376.005 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-9-20_1281830857/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-9-20_1281830857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00f45bd4a88a3aa3e6518e9c9853b781cc3c667b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-9-20_1281830857/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 766.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 769.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 772.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 775.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 778.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 781.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 784.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 787.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 790.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 790.0602879080107, + -1746.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 792.658364119364, + -1744.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 795.2564403307174, + -1743.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 797.8545165420708, + -1741.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 800.4525927534241, + -1740.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 803.0506689647775, + -1738.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 805.6487451761309, + -1737.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 808.2468213874843, + -1735.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 810.8448975988376, + -1734.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 813.442973810191, + -1732.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 816.0410500215444, + -1731.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 818.6391262328978, + -1729.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 821.2372024442511, + -1728.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 823.8352786556045, + -1726.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 826.4333548669579, + -1725.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 829.0314310783112, + -1723.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 831.6295072896646, + -1722.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 834.227583501018, + -1720.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 836.8256597123714, + -1719.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 839.4237359237247, + -1717.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 842.0218121350781, + -1716.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 844.6198883464315, + -1714.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 847.2179645577849, + -1713.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 849.8160407691382, + -1711.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 852.4141169804916, + -1710.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 855.012193191845, + -1708.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 857.6102694031983, + -1707.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 860.2083456145517, + -1705.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 862.8064218259051, + -1704.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 865.4044980372585, + -1702.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 868.0025742486118, + -1701.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 870.6006504599652, + -1699.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 873.1987266713186, + -1698.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 875.796802882672, + -1696.6159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 878.3948790940253, + -1695.1159359462447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 880.9929553053787, + -1693.6159359462447, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-16-45_567304789/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-16-45_567304789/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..308818d6d8dd300826d018a10f4c0f8f1e2b56d8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-16-45_567304789/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 572.8241809093095, + 850.4518734186856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 574.3241809093095, + 853.049949630039, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 575.8241809093095, + 855.6480258413924, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 577.3241809093095, + 858.2461020527458, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 578.8241809093095, + 860.8441782640991, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 580.3241809093095, + 863.4422544754525, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 581.8241809093095, + 866.0403306868059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 583.3241809093095, + 868.6384068981592, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 584.8241809093095, + 871.2364831095126, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 586.3241809093095, + 873.834559320866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 587.8241809093095, + 876.4326355322194, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 589.3241809093095, + 879.0307117435727, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 590.8241809093095, + 881.6287879549261, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 592.3241809093095, + 884.2268641662795, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 593.8241809093095, + 886.8249403776329, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 595.3241809093095, + 889.4230165889862, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 595.3241809093095, + 889.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 597.9222571206628, + 890.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 600.5203333320162, + 892.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 603.1184095433696, + 893.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 605.716485754723, + 895.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 608.3145619660763, + 896.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 610.9126381774297, + 898.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 613.5107143887831, + 899.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 616.1087906001364, + 901.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 618.7068668114898, + 902.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 621.3049430228432, + 904.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 623.9030192341966, + 905.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 626.5010954455499, + 907.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 629.0991716569033, + 908.9230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 631.6972478682567, + 910.4230165889862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 634.29532407961, + 911.9230165889862, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-2-38_1502781486/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-2-38_1502781486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2ce37bbe4de76e2c516267d4ba267c3bd3638e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-2-38_1502781486/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 951.8483793421176, + -1471.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 949.2503031307642, + -1472.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 946.6522269194109, + -1474.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 944.0541507080575, + -1475.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 941.4560744967041, + -1477.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 938.8579982853507, + -1478.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 936.2599220739974, + -1480.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 933.661845862644, + -1481.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 931.0637696512906, + -1483.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 928.4656934399372, + -1484.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 925.8676172285839, + -1486.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 923.2695410172305, + -1487.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 920.6714648058771, + -1489.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 918.0733885945237, + -1490.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 915.4753123831704, + -1492.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 912.877236171817, + -1493.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 910.2791599604636, + -1495.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 907.6810837491103, + -1496.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 905.0830075377569, + -1498.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 902.4849313264035, + -1499.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 899.8868551150501, + -1501.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 897.2887789036968, + -1502.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 894.6907026923434, + -1504.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 892.09262648099, + -1505.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 889.4945502696366, + -1507.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 886.8964740582833, + -1508.8143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 884.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 884.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 881.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 878.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 875.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 872.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 869.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 866.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 863.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 860.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 857.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 854.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 851.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 848.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 845.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 842.2983978469299, + -1510.3143973490317, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 816.0, + -1520.0, + 146.15 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-23_1460082195/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-23_1460082195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f33ead2be1eba1453d03071d425ee622290522e3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-23_1460082195/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 96.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 99.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 102.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 105.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 105.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 105.86676113864564, + 282.3630366799972, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.36676113864564, + 279.7649604686439, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 108.86676113864564, + 277.1668842572906, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 110.36676113864564, + 274.56880804593726, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 111.86676113864564, + 271.97073183458394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 113.36676113864564, + 269.3726556232306, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 114.86676113864564, + 266.7745794118773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 116.36676113864564, + 264.176503200524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 117.86676113864564, + 261.5784269891707, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 119.36676113864564, + 258.98035077781736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.86676113864564, + 256.38227456646405, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 120.86676113864564, + 256.38227456646405, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.46483734999896, + 254.88227456646405, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 126.06291356135227, + 253.38227456646405, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-37_1385414639/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-37_1385414639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b02bc163324ef44d1872cde007493d2793b287bf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-20-37_1385414639/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 573.0362140491083, + 1009.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 575.6342902604615, + 1008.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 578.2323664718149, + 1006.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 580.8304426831683, + 1005.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 583.4285188945216, + 1003.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 586.026595105875, + 1002.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 588.6246713172284, + 1000.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 591.2227475285817, + 999.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 593.8208237399351, + 997.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 596.4188999512885, + 996.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 599.0169761626419, + 994.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 601.6150523739952, + 993.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 604.2131285853486, + 991.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 606.811204796702, + 990.280418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 609.4092810080554, + 988.780418415575, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 609.4092810080554, + 988.780418415575, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 610.9092810080554, + 986.1823422042216, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 612.4092810080554, + 983.5842659928683, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 613.9092810080554, + 980.9861897815149, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 615.4092810080554, + 978.3881135701615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 616.9092810080554, + 975.7900373588081, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 618.4092810080554, + 973.1919611474548, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 619.9092810080554, + 970.5938849361014, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 621.4092810080554, + 967.995808724748, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 622.9092810080554, + 965.3977325133947, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 624.4092810080554, + 962.7996563020413, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 625.9092810080554, + 960.2015800906879, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-22-28_460686763/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-22-28_460686763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5856383a2c7568fbceedcb7cf85a7a6a2e2fd32 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-22-28_460686763/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1139.5474688078984, + -446.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1136.949392596545, + -444.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1134.3513163851917, + -443.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1131.7532401738383, + -441.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1129.155163962485, + -440.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1126.5570877511316, + -438.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1123.9590115397782, + -437.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1121.3609353284248, + -435.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1118.7628591170715, + -434.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1116.164782905718, + -432.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1113.5667066943647, + -431.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1110.9686304830113, + -429.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1108.370554271658, + -428.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1105.7724780603046, + -426.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1103.1744018489512, + -425.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1100.5763256375978, + -423.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1097.9782494262445, + -422.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1095.380173214891, + -420.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1092.7820970035377, + -419.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1090.1840207921844, + -417.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1087.585944580831, + -416.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1084.9878683694776, + -414.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1082.3897921581242, + -413.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1079.7917159467709, + -411.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1077.1936397354175, + -410.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1074.5955635240641, + -408.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1071.9974873127107, + -407.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1069.3994111013574, + -405.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1066.801334890004, + -404.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1064.2032586786506, + -402.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1061.6051824672973, + -401.4225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1059.0071062559439, + -399.9225251842167, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1059.0071062559439, + -399.9225251842167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1057.5071062559439, + -397.32444897286337, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1056.0071062559439, + -394.72637276151005, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1054.5071062559439, + -392.12829655015673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1053.0071062559439, + -389.5302203388034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1051.5071062559439, + -386.9321441274501, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1050.0071062559439, + -384.3340679160968, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1048.5071062559439, + -381.73599170474347, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1020.0, + -360.0, + 147.526 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-14_554290596/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-14_554290596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f130d8974aed513a2a9df8e3057802f7c7d7a07f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-14_554290596/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -100.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -94.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -88.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -73.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -70.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -67.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -67.87791265495957, + 527.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -65.27983644360626, + 529.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.68176023225294, + 530.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -60.083684020899625, + 532.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.48560780954631, + 533.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -54.88753159819299, + 535.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -52.28945538683968, + 536.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -49.69137917548636, + 538.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -47.093302964133045, + 539.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -44.49522675277973, + 541.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -41.89715054142641, + 542.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -39.2990743300731, + 544.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -36.70099811871978, + 545.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -34.102921907366465, + 547.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -31.50484569601315, + 548.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.906769484659833, + 550.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -26.308693273306517, + 551.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.7106170619532, + 553.4095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -21.112540850599885, + 554.9095324381288, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -18.51446463924657, + 556.4095324381288, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-3-4_703550253/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-3-4_703550253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81b6bf05efab4ac8cfcfe6d225c3671374de56a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-3-4_703550253/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1244.8723566800436, + 1666.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1242.2742804686902, + 1668.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1239.6762042573368, + 1669.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1237.0781280459835, + 1671.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1234.48005183463, + 1672.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1231.8819756232767, + 1674.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1229.2838994119234, + 1675.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1226.68582320057, + 1677.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1224.0877469892166, + 1678.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1221.4896707778632, + 1680.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1218.8915945665099, + 1681.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1216.2935183551565, + 1683.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1213.6954421438031, + 1684.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1211.0973659324497, + 1686.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1208.4992897210964, + 1687.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1205.901213509743, + 1689.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1203.3031372983896, + 1690.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1200.7050610870363, + 1692.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1198.1069848756829, + 1693.7230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1195.5089086643295, + 1695.2230260808958, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1195.5089086643295, + 1695.2230260808958, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1194.0089086643295, + 1697.8211022922492, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1192.5089086643295, + 1700.4191785036026, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1191.0089086643295, + 1703.017254714956, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1189.5089086643295, + 1705.6153309263093, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1188.0089086643295, + 1708.2134071376627, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1186.5089086643295, + 1710.811483349016, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1185.0089086643295, + 1713.4095595603694, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1183.5089086643295, + 1716.0076357717228, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1182.0089086643295, + 1718.6057119830762, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1148.0, + 1748.0, + 142.441 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-45-50_207621703/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-45-50_207621703/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a05e3e863501bab93c6acb67d63a244cd2d1814c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-45-50_207621703/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.07908664682725, + -260.74149369160557, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.57908664682725, + -258.14341748025225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.07908664682725, + -255.54534126889894, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 286.57908664682725, + -252.94726505754562, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.07908664682725, + -250.3491888461923, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 289.57908664682725, + -247.751112634839, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 291.07908664682725, + -245.15303642348567, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 292.57908664682725, + -242.55496021213236, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 294.07908664682725, + -239.95688400077904, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.57908664682725, + -237.35880778942573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 297.07908664682725, + -234.7607315780724, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.57908664682725, + -232.1626553667191, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 300.07908664682725, + -229.56457915536578, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 301.57908664682725, + -226.96650294401246, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 303.07908664682725, + -224.36842673265915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 304.57908664682725, + -221.77035052130583, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 306.07908664682725, + -219.1722743099525, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 307.57908664682725, + -216.5741980985992, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 309.07908664682725, + -213.97612188724588, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.57908664682725, + -211.37804567589257, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 312.07908664682725, + -208.77996946453925, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.57908664682725, + -206.18189325318593, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 315.07908664682725, + -203.58381704183262, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 315.07908664682725, + -203.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.67716285818057, + -202.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 320.2752390695339, + -200.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 322.8733152808872, + -199.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.4713914922405, + -197.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.06946770359383, + -196.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.66754391494715, + -194.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 333.26562012630046, + -193.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 335.8636963376538, + -191.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 338.4617725490071, + -190.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 341.0598487603604, + -188.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 343.6579249717137, + -187.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 346.25600118306704, + -185.58381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 348.85407739442036, + -184.08381704183262, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 348.85407739442036, + -184.08381704183262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 350.35407739442036, + -181.4857408304793, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 351.85407739442036, + -178.88766461912599, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 376.0, + -152.0, + 151.354 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-46-16_2106914653/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-46-16_2106914653/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d66d0fea7371767cbbaf84ccda5f879fc16a1ac9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-46-16_2106914653/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 119.89980002569776, + 92.52051247730012, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.49787623705107, + 94.02051247730012, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.49787623705107, + 94.02051247730012, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 123.99787623705107, + 96.61858868865343, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 125.49787623705107, + 99.21666490000675, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 126.99787623705107, + 101.81474111136006, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 128.4978762370511, + 104.41281732271338, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965936 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.9978762370511, + 107.0108935340667, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 131.4978762370511, + 109.60896974542001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 132.9978762370511, + 112.20704595677333, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 134.4978762370511, + 114.80512216812664, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 135.9978762370511, + 117.40319837947996, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 137.4978762370511, + 120.00127459083328, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 137.4978762370511, + 120.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.0959524484044, + 121.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 142.69402865975772, + 123.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 145.29210487111104, + 124.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 147.89018108246435, + 126.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 150.48825729381767, + 127.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 153.08633350517098, + 129.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 155.6844097165243, + 130.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 158.28248592787762, + 132.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 160.88056213923093, + 133.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 163.47863835058425, + 135.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 166.07671456193756, + 136.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 168.67479077329088, + 138.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 171.2728669846442, + 139.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 173.8709431959975, + 141.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 176.46901940735083, + 142.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 179.06709561870414, + 144.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 181.66517183005746, + 145.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 184.26324804141078, + 147.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 186.8613242527641, + 148.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 189.4594004641174, + 150.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 192.05747667547072, + 151.50127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 194.65555288682404, + 153.00127459083328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 197.25362909817736, + 154.50127459083328, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-1_174515334/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-1_174515334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eac25d33b5dedbd798995444e633b0745754ca21 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-1_174515334/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.4120417347118, + 260.91130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.01011794606512, + 259.41130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 112.60819415741844, + 257.91130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.20627036877175, + 256.41130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 117.80434658012507, + 254.91130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 120.40242279147839, + 253.41130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 123.0004990028317, + 251.91130824598076, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.0004990028317, + 251.91130824598076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.5004990028317, + 249.31323203462745, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 126.0004990028317, + 246.71515582327413, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-58-39_271059426/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-58-39_271059426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5eac5e19b3e84a4f4042efb4a2d585101244902 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-58-39_271059426/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 813.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 810.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 807.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 804.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 801.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 798.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 795.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 792.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 789.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 786.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 783.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 780.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 777.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 774.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 771.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 768.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 765.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 762.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 759.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 756.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 753.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 753.6888524069536, + 374.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 751.0907761956003, + 372.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 748.4926999842469, + 371.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 745.8946237728935, + 369.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 743.2965475615401, + 368.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 740.6984713501868, + 366.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 738.1003951388334, + 365.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 735.50231892748, + 363.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 732.9042427161266, + 362.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 730.3061665047733, + 360.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 727.7080902934199, + 359.3993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 725.1100140820665, + 357.8993865711358, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 722.5119378707132, + 356.3993865711358, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 160.773 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-20-25_1412277685/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-20-25_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c55dd7626a8a4485fcbcbc55fb1736dec619a7e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-20-25_1412277685/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 967.3195770064323, + -1471.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 964.721500795079, + -1469.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 962.1234245837256, + -1468.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 959.5253483723723, + -1466.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 956.9272721610189, + -1465.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 954.3291959496655, + -1463.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 951.7311197383121, + -1462.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 949.1330435269588, + -1460.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 946.5349673156054, + -1459.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 943.936891104252, + -1457.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 941.3388148928987, + -1456.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 938.7407386815453, + -1454.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 936.1426624701919, + -1453.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 933.5445862588385, + -1451.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 930.9465100474852, + -1450.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 928.3484338361318, + -1448.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 925.7503576247784, + -1447.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 923.152281413425, + -1445.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 920.5542052020717, + -1444.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 917.9561289907183, + -1442.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 915.3580527793649, + -1441.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 912.7599765680116, + -1439.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 910.1619003566582, + -1438.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 907.5638241453048, + -1436.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 904.9657479339514, + -1435.3640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 902.3676717225981, + -1433.8640003184585, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 902.3676717225981, + -1433.8640003184585, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 900.8676717225981, + -1431.265924107105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.3676717225981, + -1428.6678478957517, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 897.8676717225981, + -1426.0697716843983, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 896.3676717225981, + -1423.471695473045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 894.8676717225981, + -1420.8736192616916, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 894.8676717225981, + -1420.8736192616916, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 892.2695955112447, + -1419.3736192616916, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 860.0, + -1396.0, + 145.913 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-22-41_305197314/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-22-41_305197314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d53e6979783d2ce3909c60ff8cbce9a09f373574 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-22-41_305197314/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 461.1103701884093, + -234.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 461.1103701884093, + -231.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 461.1103701884093, + -228.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 461.1103701884093, + -225.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.1103701884093, + -222.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 461.1103701884093, + -219.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 461.1103701884093, + -216.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 461.1103701884093, + -213.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 461.1103701884093, + -210.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 461.1103701884093, + -207.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 461.1103701884093, + -204.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 461.1103701884093, + -201.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 461.1103701884093, + -198.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 461.1103701884093, + -195.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 461.1103701884093, + -192.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 461.1103701884093, + -189.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 461.1103701884093, + -186.42112454478786, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 461.1103701884093, + -186.42112454478786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 462.6103701884093, + -183.82304833343454, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 464.1103701884093, + -181.22497212208123, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 465.6103701884093, + -178.6268959107279, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 467.1103701884093, + -176.0288196993746, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 468.6103701884093, + -173.43074348802128, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 470.1103701884093, + -170.83266727666796, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 471.6103701884093, + -168.23459106531465, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.1103701884093, + -165.63651485396133, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 474.6103701884093, + -163.038438642608, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 476.1103701884093, + -160.4403624312547, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 477.6103701884093, + -157.84228621990138, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-23-40_1384095820/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-23-40_1384095820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a00e14269f57ec31fc97d0af853f5fd3d5362887 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-23-40_1384095820/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 126.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 129.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 132.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 135.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 138.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 141.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 144.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 147.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 150.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 153.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 159.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 162.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 165.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 168.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 171.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 174.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 177.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 180.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 183.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 186.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 189.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 192.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 195.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 198.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 201.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 204.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 207.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 210.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 213.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 216.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 219.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 222.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 225.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 228.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 231.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 234.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 237.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 240.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 243.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 246.01912348353943, + -739.0100856785475, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 276.0, + -740.0, + 147.026 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-29-59_384370888/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-29-59_384370888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c765ddbf7a832df5c3307d2129d93aae442d01ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-29-59_384370888/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 423.843242178516, + 780.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 421.2451659671627, + 782.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 418.64708975580936, + 783.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 416.04901354445605, + 785.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.45093733310273, + 786.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 410.8528611217494, + 788.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.2547849103961, + 789.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.6567086990428, + 791.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 403.05863248768947, + 792.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 400.46055627633615, + 794.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 397.86248006498283, + 795.9030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 395.2644038536295, + 797.4030369178067, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.2644038536295, + 797.4030369178067, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.7644038536295, + 800.0011131291601, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 392.2644038536295, + 802.5991893405135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.7644038536295, + 805.1972655518668, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 389.2644038536295, + 807.7953417632202, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 387.7644038536295, + 810.3934179745736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 386.2644038536295, + 812.991494185927, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.7644038536295, + 815.5895703972803, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-47-9_1664423428/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-47-9_1664423428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..325d55d3c6f144270d248daf7491c6d680d6ef57 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-47-9_1664423428/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 994.2218942424727, + -1623.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 991.6238180311193, + -1624.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 989.0257418197659, + -1626.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 986.4276656084126, + -1627.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 983.8295893970592, + -1629.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 981.2315131857058, + -1630.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 978.6334369743524, + -1632.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 976.0353607629991, + -1633.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 973.4372845516457, + -1635.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 970.8392083402923, + -1636.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 968.241132128939, + -1638.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 965.6430559175856, + -1639.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 963.0449797062322, + -1641.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 960.4469034948788, + -1642.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 957.8488272835255, + -1644.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 955.2507510721721, + -1645.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 952.6526748608187, + -1647.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 950.0545986494653, + -1648.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 947.456522438112, + -1650.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 944.8584462267586, + -1651.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 942.2603700154052, + -1653.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 939.6622938040518, + -1654.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 937.0642175926985, + -1656.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 934.4661413813451, + -1657.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 931.8680651699917, + -1659.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 929.2699889586384, + -1660.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 926.671912747285, + -1662.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 924.0738365359316, + -1663.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 921.4757603245782, + -1665.4268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 918.8776841132249, + -1666.9268213754035, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 918.8776841132249, + -1666.9268213754035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 917.3776841132249, + -1669.5248975867569, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 915.8776841132249, + -1672.1229737981103, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 914.3776841132249, + -1674.7210500094636, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-12_445080308/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-12_445080308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0c87a4dae15584c3770421370de3c1d2214c098 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-12_445080308/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.9941984713453, + 90.00353049497814, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.4941984713453, + 92.60160670633145, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.9941984713453, + 95.19968291768477, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.4941984713453, + 97.79775912903808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.9941984713453, + 100.3958353403914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.4941984713453, + 102.99391155174472, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.9941984713453, + 105.59198776309803, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.4941984713453, + 108.19006397445135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.9941984713453, + 110.78814018580466, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.4941984713453, + 113.38621639715798, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.9941984713453, + 115.9842926085113, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 256.4941984713453, + 118.58236881986461, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.99419847134533, + 121.18044503121793, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 253.49419847134533, + 123.77852124257124, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 251.99419847134533, + 126.37659745392456, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.49419847134533, + 128.97467366527786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.99419847134533, + 131.57274987663118, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.49419847134533, + 134.1708260879845, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 247.49419847134533, + 134.1708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.896122259992, + 135.6708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 242.2980460486387, + 137.1708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 239.69996983728538, + 138.6708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 237.10189362593206, + 140.1708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 234.50381741457875, + 141.6708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 231.90574120322543, + 143.1708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 229.30766499187212, + 144.6708260879845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 226.7095887805188, + 146.1708260879845, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-52_1799560997/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-52_1799560997/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90d5ea12249a0384702e52e23b92f294f9327439 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-52_1799560997/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 298.67655774966306, + 647.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 296.07848153830975, + 649.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 293.48040532695643, + 650.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.8823291156031, + 652.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.2842529042498, + 653.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.6861766928965, + 655.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.08810048154317, + 656.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.49002427018985, + 658.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.89194805883653, + 659.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 275.2938718474832, + 661.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 272.6957956361299, + 662.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 270.0977194247766, + 664.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.49964321342327, + 665.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 264.90156700206995, + 667.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.30349079071664, + 668.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 259.7054145793633, + 670.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.10733836801, + 671.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 254.5092621566567, + 673.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 251.91118594530337, + 674.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 249.31310973395006, + 676.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 246.71503352259674, + 677.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 244.11695731124343, + 679.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 241.5188810998901, + 680.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 238.9208048885368, + 682.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 236.32272867718348, + 683.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 233.72465246583016, + 685.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 231.12657625447684, + 686.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 228.52850004312353, + 688.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 225.9304238317702, + 689.5159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 220.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 217.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 214.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 211.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 208.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 205.3323476204169, + 691.0159919627135, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-54-17_1539942439/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-54-17_1539942439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea6ce0484da52e9a4188b906c6b4da1e54a6836b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-54-17_1539942439/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 304.524066276122, + 737.2545121495612, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.024066276122, + 739.8525883609145, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 307.524066276122, + 742.4506645722679, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 309.024066276122, + 745.0487407836213, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 310.524066276122, + 747.6468169949746, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 312.024066276122, + 750.244893206328, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 313.524066276122, + 752.8429694176814, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 315.024066276122, + 755.4410456290348, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 316.524066276122, + 758.0391218403881, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 318.024066276122, + 760.6371980517415, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.524066276122, + 763.2352742630949, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 321.024066276122, + 765.8333504744483, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.524066276122, + 768.4314266858016, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 324.024066276122, + 771.029502897155, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 325.524066276122, + 773.6275791085084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 327.024066276122, + 776.2256553198617, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.524066276122, + 778.8237315312151, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 330.024066276122, + 781.4218077425685, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 330.024066276122, + 781.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.024066276122, + 784.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 330.024066276122, + 787.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.024066276122, + 790.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 330.024066276122, + 793.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 330.024066276122, + 796.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 330.024066276122, + 799.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.024066276122, + 802.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 330.024066276122, + 805.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 330.024066276122, + 808.4218077425685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 330.024066276122, + 811.4218077425685, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-56-51_953691761/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-56-51_953691761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06218203c8ced4dbb92660dbd3ece3db2a0a960e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-56-51_953691761/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 652.674535861775, + 454.198292777657, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 651.174535861775, + 456.7963689890103, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 649.674535861775, + 459.39444520036363, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 648.174535861775, + 461.99252141171695, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 646.674535861775, + 464.59059762307027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 645.174535861775, + 467.1886738344236, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 643.674535861775, + 469.7867500457769, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 642.174535861775, + 472.3848262571302, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 640.674535861775, + 474.98290246848353, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 639.174535861775, + 477.58097867983685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 637.674535861775, + 480.17905489119016, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 636.174535861775, + 482.7771311025435, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 634.674535861775, + 485.3752073138968, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 633.174535861775, + 487.9732835252501, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 631.674535861775, + 490.5713597366034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 630.174535861775, + 493.16943594795674, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 628.674535861775, + 495.76751215931006, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 627.174535861775, + 498.3655883706634, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 625.674535861775, + 500.9636645820167, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 624.174535861775, + 503.56174079337, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 622.674535861775, + 506.1598170047233, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 621.174535861775, + 508.75789321607664, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 619.674535861775, + 511.35596942742995, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 618.174535861775, + 513.9540456387833, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 616.674535861775, + 516.5521218501367, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 615.174535861775, + 519.1501980614901, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 613.674535861775, + 521.7482742728434, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 612.174535861775, + 524.3463504841968, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 596.0, + 560.0, + 156.155 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-7-0_476152433/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-7-0_476152433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9001848ae2aec1c2ba0c7ee1dd57df929a5be7b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-7-0_476152433/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 667.3309772096263, + -1109.0777480664915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 669.9290534209797, + -1110.5777480664915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 672.5271296323331, + -1112.0777480664915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 675.1252058436864, + -1113.5777480664915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 677.7232820550398, + -1115.0777480664915, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 677.7232820550398, + -1115.0777480664915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 679.2232820550398, + -1117.6758242778449, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 680.7232820550398, + -1120.2739004891982, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 682.2232820550398, + -1122.8719767005516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 683.7232820550398, + -1125.470052911905, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 685.2232820550398, + -1128.0681291232584, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 686.7232820550398, + -1130.6662053346117, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 688.2232820550398, + -1133.264281545965, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 688.2232820550398, + -1133.264281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 690.8213582663932, + -1134.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 693.4194344777466, + -1136.264281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 696.0175106890999, + -1137.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 698.6155869004533, + -1139.264281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 701.2136631118067, + -1140.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 703.81173932316, + -1142.264281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 706.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 706.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 709.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 712.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 715.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 718.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 721.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 724.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 727.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 730.4098155345134, + -1143.764281545965, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-13-50_158136104/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-13-50_158136104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..638ff65996020f33c7862bef30f36c8afa828923 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-13-50_158136104/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -232.9147195982012, + 343.2933713346, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -234.4147195982012, + 340.6952951232467, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -235.9147195982012, + 338.0972189118934, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -237.4147195982012, + 335.49914270054006, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -238.9147195982012, + 332.90106648918675, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -240.4147195982012, + 330.30299027783343, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -241.9147195982012, + 327.7049140664801, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -243.4147195982012, + 325.1068378551268, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -244.9147195982012, + 322.5087616437735, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -246.4147195982012, + 319.91068543242017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -247.9147195982012, + 317.31260922106685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -249.4147195982012, + 314.71453300971353, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -250.9147195982012, + 312.1164567983602, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -252.4147195982012, + 309.5183805870069, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -253.9147195982012, + 306.9203043756536, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -255.4147195982012, + 304.32222816430027, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -255.4147195982012, + 304.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -258.0127958095545, + 302.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -260.61087202090783, + 301.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.20894823226115, + 299.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -265.80702444361447, + 298.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -268.4051006549678, + 296.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -271.0031768663211, + 295.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -273.6012530776744, + 293.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -276.19932928902773, + 292.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -278.79740550038105, + 290.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -281.39548171173436, + 289.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -283.9935579230877, + 287.82222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -286.591634134441, + 286.32222816430027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -289.1897103457943, + 284.82222816430027, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 256.0, + 154.563 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-19-13_221713886/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-19-13_221713886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a8267fb249608e2ddff46a6139974e7776dc332 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-19-13_221713886/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -207.2207491370841, + -5.091940632779824, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -205.7207491370841, + -2.493864421426508, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -204.2207491370841, + 0.1042117899268078, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -202.7207491370841, + 2.702288001280124, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -201.2207491370841, + 5.30036421263344, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -199.7207491370841, + 7.898440423986756, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -198.2207491370841, + 10.496516635340072, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -196.7207491370841, + 13.094592846693388, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -195.2207491370841, + 15.692669058046704, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -193.7207491370841, + 18.29074526940002, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.2207491370841, + 20.888821480753336, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.7207491370841, + 23.486897692106652, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -189.2207491370841, + 26.084973903459968, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -187.7207491370841, + 28.683050114813284, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -186.2207491370841, + 31.2811263261666, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -184.7207491370841, + 33.879202537519916, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -183.2207491370841, + 36.47727874887323, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -181.7207491370841, + 39.07535496022655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -180.2207491370841, + 41.673431171579864, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -178.7207491370841, + 44.27150738293318, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -177.2207491370841, + 46.869583594286496, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -175.7207491370841, + 49.46765980563981, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -174.2207491370841, + 52.06573601699313, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.7207491370841, + 54.663812228346444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -171.2207491370841, + 57.26188843969976, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.7207491370841, + 59.859964651053076, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.2207491370841, + 62.45804086240639, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -166.7207491370841, + 65.05611707375971, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -165.2207491370841, + 67.65419328511302, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -163.7207491370841, + 70.25226949646634, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -162.2207491370841, + 72.85034570781966, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -160.7207491370841, + 75.44842191917297, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -159.2207491370841, + 78.04649813052629, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -157.7207491370841, + 80.6445743418796, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-24-43_78374295/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-24-43_78374295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd47a2faa6749fb24d4c98e0fc91ea683e01a0d2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-24-43_78374295/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 53.41316148567955, + 783.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.41316148567955, + 780.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.41316148567955, + 777.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 53.41316148567955, + 774.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.41316148567955, + 771.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 53.41316148567955, + 768.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.41316148567955, + 765.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.41316148567955, + 762.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.41316148567955, + 759.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 53.41316148567955, + 756.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 53.41316148567955, + 753.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 53.41316148567955, + 750.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 53.41316148567955, + 747.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 53.41316148567955, + 744.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.41316148567955, + 741.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 53.41316148567955, + 738.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 53.41316148567955, + 735.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 53.41316148567955, + 732.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.41316148567955, + 729.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.41316148567955, + 726.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 53.41316148567955, + 723.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 53.41316148567955, + 720.899374111, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 53.41316148567955, + 720.899374111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 54.91316148567955, + 718.3012978996467, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 56.41316148567955, + 715.7032216882933, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 57.91316148567955, + 713.1051454769399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 59.41316148567955, + 710.5070692655866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 60.91316148567955, + 707.9089930542332, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 62.41316148567955, + 705.3109168428798, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 189.14 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-34-9_25084100/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-34-9_25084100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b4fefddabf5cf3ea3d5ab5a2ae47845d3b07b19 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-34-9_25084100/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1028.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1031.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1034.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1037.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1040.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1043.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1046.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1049.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1052.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1055.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1058.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1061.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1064.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1067.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1070.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1073.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1076.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1079.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1082.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1085.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1088.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1091.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1094.534936595663, + 1743.9235163024396, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1148.0, + 1748.0, + 142.441 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-37-46_333293469/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-37-46_333293469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4acaed6f17d8bc0b36024ae4ee972c6863f2f300 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-37-46_333293469/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 488.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 494.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 500.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 503.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 506.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 509.48305904871626, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 512.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 515.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 518.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 521.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 524.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 527.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 527.4830590487163, + 531.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 530.0811352600697, + 532.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 532.6792114714231, + 534.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 535.2772876827764, + 535.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 537.8753638941298, + 537.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 540.4734401054832, + 538.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 543.0715163168366, + 540.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 545.6695925281899, + 541.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 548.2676687395433, + 543.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 550.8657449508967, + 544.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 553.46382116225, + 546.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 556.0618973736034, + 547.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 558.6599735849568, + 549.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 561.2580497963102, + 550.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 563.8561260076635, + 552.4328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 566.4542022190169, + 553.9328802651398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 569.0522784303703, + 555.4328802651398, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 596.0, + 560.0, + 156.155 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-42-59_773446912/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-42-59_773446912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9ab74b2823bbe0722af3415f4827c5778bb856c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-42-59_773446912/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -96.58252085525035, + 8.821945347972402, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.08252085525035, + 11.420021559325718, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.58252085525035, + 14.018097770679034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.08252085525035, + 16.61617398203235, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.58252085525035, + 19.214250193385666, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.08252085525035, + 21.812326404738982, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.58252085525035, + 24.4104026160923, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.08252085525035, + 27.008478827445614, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.58252085525035, + 29.60655503879893, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.08252085525035, + 32.20463125015225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.58252085525035, + 34.80270746150556, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.08252085525035, + 37.40078367285888, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.58252085525035, + 39.998859884212195, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -116.08252085525035, + 42.59693609556551, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.58252085525035, + 45.19501230691883, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.08252085525035, + 47.79308851827214, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -120.58252085525035, + 50.39116472962546, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.08252085525035, + 52.989240940978775, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -123.58252085525035, + 55.58731715233209, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -123.58252085525035, + 55.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.58252085525035, + 58.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -123.58252085525035, + 61.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.58252085525035, + 64.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -123.58252085525035, + 67.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -123.58252085525035, + 70.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -123.58252085525035, + 73.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -123.58252085525035, + 76.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -123.58252085525035, + 79.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -123.58252085525035, + 82.58731715233209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -123.58252085525035, + 85.58731715233209, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-57-26_1163384280/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-57-26_1163384280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..282c1bbbbaedad41b3424b0ce28864fc76ad1204 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-57-26_1163384280/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 803.2811867347564, + -1056.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 800.683110523403, + -1058.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 798.0850343120496, + -1059.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 795.4869581006963, + -1061.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 792.8888818893429, + -1062.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.2908056779895, + -1064.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 787.6927294666361, + -1065.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 785.0946532552828, + -1067.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 782.4965770439294, + -1068.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 779.898500832576, + -1070.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 777.3004246212226, + -1071.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 774.7023484098693, + -1073.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 772.1042721985159, + -1074.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 769.5061959871625, + -1076.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 766.9081197758092, + -1077.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 764.3100435644558, + -1079.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 761.7119673531024, + -1080.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 759.113891141749, + -1082.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 756.5158149303957, + -1083.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 753.9177387190423, + -1085.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 751.3196625076889, + -1086.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 748.7215862963355, + -1088.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 746.1235100849822, + -1089.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 743.5254338736288, + -1091.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 740.9273576622754, + -1092.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 738.329281450922, + -1094.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 735.7312052395687, + -1095.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 733.1331290282153, + -1097.1139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 730.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 730.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 727.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 724.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 721.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 718.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 715.5350528168619, + -1098.6139755764655, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-9-23_2058907361/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-9-23_2058907361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20a4e7ec7221e7db13d780e283d4fa492333d1d0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-9-23_2058907361/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 201.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 198.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 195.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 192.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 189.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 186.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 183.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 180.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 177.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 174.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 171.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 168.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 165.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 162.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 159.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 156.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 153.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 150.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 144.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 141.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 138.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 132.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 129.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 126.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 123.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 120.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 117.17229845879413, + 794.6582345473876, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-36_415675634/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-36_415675634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b46222e026f9e3ca7776b94f66693b353fd231c7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-36_415675634/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 95.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 98.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 101.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 104.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 107.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 110.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.33836777022029, + 220.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 115.9364439815736, + 218.6925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 118.53452019292692, + 217.1925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 121.13259640428024, + 215.6925622605001, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 123.73067261563355, + 214.1925622605001, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-47_67874133/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-47_67874133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8ca4da96f9ef4e7adbf0ae4b059b5b00e7c5f3a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-18-47_67874133/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 986.4046020041189, + -1795.4869977488968, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 984.9046020041189, + -1792.8889215375434, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 983.4046020041189, + -1790.29084532619, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 981.9046020041189, + -1787.6927691148367, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 980.4046020041189, + -1785.0946929034833, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 978.9046020041189, + -1782.49661669213, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 977.4046020041189, + -1779.8985404807765, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 975.9046020041189, + -1777.3004642694232, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 974.4046020041189, + -1774.7023880580698, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 972.9046020041189, + -1772.1043118467164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 971.4046020041189, + -1769.506235635363, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 969.9046020041189, + -1766.9081594240097, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 968.4046020041189, + -1764.3100832126563, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 966.9046020041189, + -1761.712007001303, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 965.4046020041189, + -1759.1139307899496, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 963.9046020041189, + -1756.5158545785962, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 962.4046020041189, + -1753.9177783672428, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 960.9046020041189, + -1751.3197021558894, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 959.4046020041189, + -1748.721625944536, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 957.9046020041189, + -1746.1235497331827, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 956.4046020041189, + -1743.5254735218293, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 954.9046020041189, + -1740.927397310476, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 953.4046020041189, + -1738.3293210991226, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 951.9046020041189, + -1735.7312448877692, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 950.4046020041189, + -1733.1331686764158, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 948.9046020041189, + -1730.5350924650625, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 948.9046020041189, + -1730.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 946.3065257927656, + -1729.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 943.7084495814122, + -1727.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 941.1103733700588, + -1726.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 938.5122971587055, + -1724.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 935.9142209473521, + -1723.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 933.3161447359987, + -1721.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 930.7180685246453, + -1720.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 928.119992313292, + -1718.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 925.5219161019386, + -1717.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 922.9238398905852, + -1715.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 920.3257636792318, + -1714.0350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 917.7276874678785, + -1712.5350924650625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 915.1296112565251, + -1711.0350924650625, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-23-12_193552063/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-23-12_193552063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e899c27426558943f6b7b62fd6cca2be1bc0f81 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-23-12_193552063/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 547.6262341150813, + 537.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 547.6262341150813, + 540.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 547.6262341150813, + 543.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 547.6262341150813, + 546.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 547.6262341150813, + 549.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 547.6262341150813, + 552.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 547.6262341150813, + 555.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 547.6262341150813, + 558.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 547.6262341150813, + 561.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 547.6262341150813, + 564.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 547.6262341150813, + 567.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 547.6262341150813, + 570.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 547.6262341150813, + 573.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 547.6262341150813, + 576.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 547.6262341150813, + 579.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 547.6262341150813, + 582.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 547.6262341150813, + 585.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 547.6262341150813, + 588.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 547.6262341150813, + 591.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 547.6262341150813, + 594.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 547.6262341150813, + 597.0200642405999, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 547.6262341150813, + 600.0200642405999, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + 668.0, + 143.189 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-24-37_819485269/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-24-37_819485269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65d8f8f6fc666d6fa64f2ebef5d0b07299cd5d13 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-24-37_819485269/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.1219160546853, + 443.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.7199922660386, + 445.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.31806847739193, + 446.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.91614468874525, + 448.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 401.51422090009856, + 449.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 404.1122971114519, + 451.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 406.7103733228052, + 452.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 409.3084495341585, + 454.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.90652574551183, + 455.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 414.50460195686514, + 457.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 417.10267816821846, + 458.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.7007543795718, + 460.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.2988305909251, + 461.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.8969068022784, + 463.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.4949830136317, + 464.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 430.09305922498504, + 466.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.69113543633836, + 467.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 435.2892116476917, + 469.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.887287859045, + 470.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.4853640703983, + 472.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 443.0834402817516, + 473.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.68151649310494, + 475.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 448.27959270445825, + 476.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.87766891581157, + 478.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.4757451271649, + 479.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 456.0738213385182, + 481.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.6718975498715, + 482.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 461.26997376122483, + 484.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 463.86804997257815, + 485.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 466.46612618393146, + 487.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 469.0642023952848, + 488.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 471.6622786066381, + 490.17974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 474.2603548179914, + 491.67974805185895, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 476.85843102934473, + 493.17974805185895, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 153.926 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-30-2_573556837/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-30-2_573556837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f856251abc5176437b984a143f6dcc8aca9a24de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-30-2_573556837/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 12.05255692033785, + -227.280473473137, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 13.55255692033785, + -224.68239726178368, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 15.05255692033785, + -222.08432105043036, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 16.55255692033785, + -219.48624483907705, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.05255692033785, + -216.88816862772373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 19.55255692033785, + -214.2900924163704, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 21.05255692033785, + -211.6920162050171, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 22.55255692033785, + -209.09393999366378, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 24.05255692033785, + -206.49586378231047, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 25.55255692033785, + -203.89778757095715, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 27.05255692033785, + -201.29971135960383, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 28.55255692033785, + -198.70163514825052, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 30.05255692033785, + -196.1035589368972, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 31.55255692033785, + -193.50548272554389, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 33.05255692033785, + -190.90740651419057, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 34.55255692033785, + -188.30933030283725, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 36.05255692033785, + -185.71125409148394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 37.55255692033785, + -183.11317788013062, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 39.05255692033785, + -180.5151016687773, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 39.05255692033785, + -180.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 41.650633131691166, + -179.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 44.24870934304448, + -177.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 46.8467855543978, + -176.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 49.444861765751114, + -174.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 52.04293797710443, + -173.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.641014188457746, + -171.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 57.23909039981106, + -170.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 59.83716661116438, + -168.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 62.435242822517694, + -167.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 65.03331903387101, + -165.5151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 67.63139524522433, + -164.0151016687773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 70.22947145657764, + -162.5151016687773, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -140.0, + 151.491 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-32-21_933596911/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-32-21_933596911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9c8cf7c9b475229f7cea69d3631fa0bd6b73ad6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-32-21_933596911/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 415.5046366203279, + -1066.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 415.5046366203279, + -1063.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 415.5046366203279, + -1060.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 415.5046366203279, + -1057.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 415.5046366203279, + -1054.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 415.5046366203279, + -1051.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 415.5046366203279, + -1048.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 415.5046366203279, + -1045.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 415.5046366203279, + -1042.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 415.5046366203279, + -1039.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 415.5046366203279, + -1036.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 415.5046366203279, + -1033.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 415.5046366203279, + -1030.7326770970542, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 415.5046366203279, + -1030.7326770970542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.0046366203279, + -1028.1346008857008, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.5046366203279, + -1025.5365246743474, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 411.0046366203279, + -1022.9384484629941, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 409.5046366203279, + -1020.3403722516407, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 408.0046366203279, + -1017.7422960402873, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 406.5046366203279, + -1015.144219828934, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 405.0046366203279, + -1012.5461436175806, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 403.5046366203279, + -1009.9480674062272, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 402.0046366203279, + -1007.3499911948738, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 400.5046366203279, + -1004.7519149835205, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 399.0046366203279, + -1002.1538387721671, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 399.0046366203279, + -1002.1538387721671, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 399.0046366203279, + -999.1538387721671, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 143.522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-33-4_1230769829/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-33-4_1230769829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b99e6bb2b454431f8443da2266647bfe68f0d07f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-33-4_1230769829/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 544.3384671546825, + -47.121138597804375, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 545.8384671546825, + -44.52306238645106, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 547.3384671546825, + -41.92498617509774, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 548.8384671546825, + -39.32690996374443, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 550.3384671546825, + -36.72883375239111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 551.8384671546825, + -34.130757541037795, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 553.3384671546825, + -31.53268132968448, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 554.8384671546825, + -28.934605118331163, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 556.3384671546825, + -26.336528906977847, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 557.8384671546825, + -23.73845269562453, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 559.3384671546825, + -21.140376484271215, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 560.8384671546825, + -18.5423002729179, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 562.3384671546825, + -15.944224061564583, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 563.8384671546825, + -13.346147850211267, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 565.3384671546825, + -10.748071638857951, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 566.8384671546825, + -8.149995427504635, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 568.3384671546825, + -5.551919216151319, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 569.8384671546825, + -2.953843004798003, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 569.8384671546825, + -2.953843004798003, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 569.8384671546825, + 0.04615699520199712, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 569.8384671546825, + 3.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 569.8384671546825, + 6.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 569.8384671546825, + 9.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 569.8384671546825, + 12.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 569.8384671546825, + 15.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 569.8384671546825, + 18.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 569.8384671546825, + 21.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 569.8384671546825, + 24.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 569.8384671546825, + 27.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 569.8384671546825, + 30.046156995201997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 569.8384671546825, + 33.046156995202, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 569.8384671546825, + 36.046156995202, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 569.8384671546825, + 39.046156995202, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-39-33_1651675551/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-39-33_1651675551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..134082fbc3abefda9ac713fe64cf7c8f9e6b5004 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-39-33_1651675551/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 714.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 717.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 720.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 723.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 726.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 729.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 732.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 735.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 738.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 741.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 744.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 747.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 750.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 753.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 756.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 759.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 762.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 765.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 768.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 771.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 774.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 777.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 780.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 783.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 786.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 789.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 792.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 795.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 795.0584308994453, + -1768.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 797.6565071107987, + -1769.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 800.254583322152, + -1771.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 802.8526595335054, + -1772.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 805.4507357448588, + -1774.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 808.0488119562121, + -1775.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 810.6468881675655, + -1777.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 813.2449643789189, + -1778.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 815.8430405902723, + -1780.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 818.4411168016256, + -1781.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 821.039193012979, + -1783.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 823.6372692243324, + -1784.8452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 826.2353454356858, + -1786.3452770448516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 828.8334216470391, + -1787.8452770448516, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-42-38_671068506/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-42-38_671068506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..168761d33861bd86f3e719fca18d8d0d1b93fdb3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-42-38_671068506/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 759.6398297194337, + -1732.4063266994426, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 761.1398297194337, + -1735.004402910796, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 762.6398297194337, + -1737.6024791221494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 764.1398297194337, + -1740.2005553335027, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 765.6398297194337, + -1742.798631544856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 767.1398297194337, + -1745.3967077562095, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 767.1398297194337, + -1745.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 769.7379059307871, + -1746.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 772.3359821421404, + -1748.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 774.9340583534938, + -1749.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 777.5321345648472, + -1751.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 780.1302107762006, + -1752.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 782.7282869875539, + -1754.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 785.3263631989073, + -1755.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 787.9244394102607, + -1757.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 790.522515621614, + -1758.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 793.1205918329674, + -1760.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 795.7186680443208, + -1761.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 798.3167442556742, + -1763.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 800.9148204670275, + -1764.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 803.5128966783809, + -1766.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 806.1109728897343, + -1767.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 808.7090491010877, + -1769.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 811.307125312441, + -1770.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 813.9052015237944, + -1772.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 816.5032777351478, + -1773.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 819.1013539465011, + -1775.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 821.6994301578545, + -1776.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 824.2975063692079, + -1778.3967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 826.8955825805613, + -1779.8967077562095, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 829.4936587919146, + -1781.3967077562095, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-41_730832933/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-41_730832933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..214e51f6680c2011eed1fd13a0725eefc2979432 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-41_730832933/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1096.4157005881868, + -133.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1093.8176243768335, + -134.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1091.21954816548, + -136.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1088.6214719541267, + -137.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1086.0233957427733, + -139.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1083.42531953142, + -140.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1080.8272433200666, + -142.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1078.2291671087132, + -143.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1075.6310908973599, + -145.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1073.0330146860065, + -146.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1070.434938474653, + -148.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1067.8368622632997, + -149.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1065.2387860519464, + -151.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1062.640709840593, + -152.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1060.0426336292396, + -154.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1057.4445574178862, + -155.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1054.8464812065329, + -157.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1052.2484049951795, + -158.62251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1049.6503287838261, + -160.12251958386187, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1049.6503287838261, + -160.12251958386187, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1048.1503287838261, + -162.7205957952152, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1046.6503287838261, + -165.3186720065685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1045.1503287838261, + -167.91674821792182, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1043.6503287838261, + -170.51482442927514, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1042.1503287838261, + -173.11290064062845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1040.6503287838261, + -175.71097685198177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1039.1503287838261, + -178.30905306333509, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1037.6503287838261, + -180.9071292746884, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 156.346 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-55-48_805251743/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-55-48_805251743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1cb661bc541ac7fd053720a8abeb82382986efb3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-55-48_805251743/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.2407861026934, + 279.5928754285039, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.7407861026934, + 276.99479921715056, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 181.2407861026934, + 274.39672300579724, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 182.7407861026934, + 271.7986467944439, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 184.2407861026934, + 269.2005705830906, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 185.7407861026934, + 266.6024943717373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 187.2407861026934, + 264.004418160384, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 188.7407861026934, + 261.40634194903066, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.2407861026934, + 258.80826573767735, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 191.7407861026934, + 256.21018952632403, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 193.2407861026934, + 253.6121133149707, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 194.7407861026934, + 251.0140371036174, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 196.2407861026934, + 248.41596089226408, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 197.7407861026934, + 245.81788468091077, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 199.2407861026934, + 243.21980846955745, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.7407861026934, + 240.62173225820413, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 202.2407861026934, + 238.02365604685082, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.7407861026934, + 235.4255798354975, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.7407861026934, + 235.4255798354975, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 203.7407861026934, + 232.4255798354975, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 203.7407861026934, + 229.4255798354975, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-58-51_99885196/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-58-51_99885196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af97be9c5e59df3d4566cc42c87fefba3613b22f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-58-51_99885196/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 134.20789961488057, + 82.64106187652581, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 135.70789961488057, + 85.23913808787913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 137.20789961488057, + 87.83721429923244, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 138.70789961488057, + 90.43529051058576, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 140.20789961488057, + 93.03336672193907, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 141.70789961488057, + 95.63144293329239, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 143.20789961488057, + 98.2295191446457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 144.70789961488057, + 100.82759535599902, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 146.20789961488057, + 103.42567156735234, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 147.70789961488057, + 106.02374777870565, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 149.20789961488057, + 108.62182399005897, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.70789961488057, + 111.21990020141229, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 152.20789961488057, + 113.8179764127656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 153.70789961488057, + 116.41605262411892, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 155.20789961488057, + 119.01412883547223, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 156.70789961488057, + 121.61220504682555, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 158.20789961488057, + 124.21028125817887, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 159.70789961488057, + 126.80835746953218, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 161.20789961488057, + 129.4064336808855, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 162.70789961488057, + 132.00450989223881, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 164.20789961488057, + 134.60258610359213, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 165.70789961488057, + 137.20066231494545, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 167.20789961488057, + 139.79873852629876, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 168.70789961488057, + 142.39681473765208, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 170.20789961488057, + 144.9948909490054, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 171.70789961488057, + 147.5929671603587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 173.20789961488057, + 150.19104337171203, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 174.70789961488057, + 152.78911958306534, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 176.20789961488057, + 155.38719579441866, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 176.20789961488057, + 155.38719579441866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 178.8059758262339, + 156.88719579441866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 181.4040520375872, + 158.38719579441866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 184.00212824894052, + 159.88719579441866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.60020446029384, + 161.38719579441866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 189.19828067164715, + 162.88719579441866, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 446.603 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-1-34_1588695568/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-1-34_1588695568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abeb66adf688eacd7ab8cd7728144243a0757b8c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-1-34_1588695568/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1790.068890219942, + -438.1427701114481, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1788.568890219942, + -440.7408463228014, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1787.068890219942, + -443.33892253415473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1785.568890219942, + -445.93699874550805, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1784.068890219942, + -448.53507495686137, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1782.568890219942, + -451.1331511682147, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1781.068890219942, + -453.731227379568, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1779.568890219942, + -456.3293035909213, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1778.068890219942, + -458.92737980227463, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1776.568890219942, + -461.52545601362795, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1775.068890219942, + -464.12353222498126, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1773.568890219942, + -466.7216084363346, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1772.068890219942, + -469.3196846476879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1770.568890219942, + -471.9177608590412, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1769.068890219942, + -474.5158370703945, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1767.568890219942, + -477.11391328174784, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1766.068890219942, + -479.71198949310116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1764.568890219942, + -482.3100657044545, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1763.068890219942, + -484.9081419158078, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1761.568890219942, + -487.5062181271611, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1760.068890219942, + -490.1042943385144, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1758.568890219942, + -492.70237054986774, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1757.068890219942, + -495.30044676122105, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1757.068890219942, + -495.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1757.068890219942, + -498.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1757.068890219942, + -501.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1757.068890219942, + -504.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1757.068890219942, + -507.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1757.068890219942, + -510.30044676122105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1757.068890219942, + -513.3004467612211, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1757.068890219942, + -516.3004467612211, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1757.068890219942, + -519.3004467612211, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1757.068890219942, + -522.3004467612211, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1757.068890219942, + -525.3004467612211, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1757.068890219942, + -528.3004467612211, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + -560.0, + 150.683 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-13-52_118993446/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-13-52_118993446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..204ecdf74c3c80082c7436f2c4177b391878736b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-13-52_118993446/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 257.999516710524, + 635.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 255.4014404991707, + 636.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.80336428781737, + 638.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 250.20528807646406, + 639.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 247.60721186511074, + 641.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 245.00913565375743, + 642.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 242.4110594424041, + 644.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 239.8129832310508, + 645.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 237.21490701969748, + 647.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 234.61683080834416, + 648.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 232.01875459699085, + 650.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 229.42067838563753, + 651.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 226.8226021742842, + 653.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 224.2245259629309, + 654.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 221.62644975157758, + 656.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 219.02837354022427, + 657.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 216.43029732887095, + 659.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 213.83222111751763, + 660.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 211.23414490616432, + 662.2763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.636068694811, + 663.7763541987009, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 208.636068694811, + 663.7763541987009, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 207.136068694811, + 666.3744304100542, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 205.636068694811, + 668.9725066214075, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 204.136068694811, + 671.5705828327609, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 202.636068694811, + 674.1686590441143, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 201.136068694811, + 676.7667352554677, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 199.636068694811, + 679.364811466821, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 198.136068694811, + 681.9628876781744, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-16-49_44470216/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-16-49_44470216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad87f90daf6e82aed0b8831470405402ff05fd92 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-16-49_44470216/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 21.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 24.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 27.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 30.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 33.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 39.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 42.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 48.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 54.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 57.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 60.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.061854733916235, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 66.06185473391623, + 982.7572494023686, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 66.06185473391623, + 982.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 68.65993094526955, + 984.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 71.25800715662287, + 985.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 73.85608336797618, + 987.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.4541595793295, + 988.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 79.05223579068281, + 990.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 81.65031200203613, + 991.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 84.24838821338945, + 993.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 86.84646442474276, + 994.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 89.44454063609608, + 996.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 92.0426168474494, + 997.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 94.64069305880271, + 999.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 97.23876927015603, + 1000.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.83684548150934, + 1002.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 102.43492169286266, + 1003.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.03299790421597, + 1005.2572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 107.63107411556929, + 1006.7572494023686, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 110.2291503269226, + 1008.2572494023686, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.0, + 1020.0, + 145.009 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-16_942581876/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-16_942581876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2779bee75fbee62fef211e215f248067f4c2dabb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-16_942581876/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 37.658238637901974, + 691.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 37.658238637901974, + 688.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 37.658238637901974, + 685.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.658238637901974, + 682.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.658238637901974, + 679.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 37.658238637901974, + 676.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 37.658238637901974, + 673.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.658238637901974, + 670.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.658238637901974, + 667.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.658238637901974, + 664.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.658238637901974, + 661.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 37.658238637901974, + 658.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 37.658238637901974, + 655.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 37.658238637901974, + 652.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 37.658238637901974, + 649.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 37.658238637901974, + 646.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 37.658238637901974, + 643.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 37.658238637901974, + 640.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 37.658238637901974, + 637.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 37.658238637901974, + 634.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 37.658238637901974, + 631.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 37.658238637901974, + 628.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 37.658238637901974, + 625.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 37.658238637901974, + 622.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 37.658238637901974, + 619.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 37.658238637901974, + 616.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 37.658238637901974, + 613.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 37.658238637901974, + 610.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 37.658238637901974, + 607.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 37.658238637901974, + 604.3990277512524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 37.658238637901974, + 601.3990277512524, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-15_689442530/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-15_689442530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8e9b8cf440d8d69b08c6f4340ef030ed10f24e5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-15_689442530/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 345.8103200245407, + 744.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 343.2122438131874, + 746.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 340.6141676018341, + 747.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 338.01609139048077, + 749.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 335.41801517912745, + 750.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 332.81993896777414, + 752.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 330.2218627564208, + 753.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 327.6237865450675, + 755.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 325.0257103337142, + 756.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.42763412236087, + 758.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.82955791100756, + 759.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 317.23148169965424, + 761.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.6334054883009, + 762.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 312.0353292769476, + 764.0449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 309.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 306.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 303.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 300.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 294.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 291.4372530655943, + 765.5449576176431, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + 780.0, + 191.626 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-38_1031207394/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-38_1031207394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6f328ab061334277a7dcbf703bff3289b834df9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-38_1031207394/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 342.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 339.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 336.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 333.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 330.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 327.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 324.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 321.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 318.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 315.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 312.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 309.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 303.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 300.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 291.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 279.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 273.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 270.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 264.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 261.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 258.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 255.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 252.06946425396745, + 220.02526664872963, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-59_306851320/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-59_306851320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20577591f5042360ad2a00a5b13c43dc0d1e8f66 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-59_306851320/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 480.5161404436095, + 409.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.5161404436095, + 412.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 480.5161404436095, + 415.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 480.5161404436095, + 418.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 480.5161404436095, + 421.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 480.5161404436095, + 424.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 480.5161404436095, + 427.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 480.5161404436095, + 430.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.5161404436095, + 433.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 480.5161404436095, + 436.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 480.5161404436095, + 439.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.5161404436095, + 442.0720201261421, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 480.5161404436095, + 442.0720201261421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 482.0161404436095, + 444.6700963374954, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 483.5161404436095, + 447.2681725488487, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 485.0161404436095, + 449.86624876020204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.5161404436095, + 452.46432497155536, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 488.0161404436095, + 455.0624011829087, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 489.5161404436095, + 457.660477394262, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 491.0161404436095, + 460.2585536056153, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 492.5161404436095, + 462.8566298169686, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 153.926 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-3_728149010/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-3_728149010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f424386154d66eb1cda875ef1ec59bb8b7b04a4f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-3_728149010/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 535.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 538.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 541.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 544.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 547.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 550.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 553.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 556.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 559.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 562.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 565.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 568.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 571.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 574.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 577.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 580.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 583.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 586.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 589.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 592.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 595.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 598.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 601.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 604.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 604.259755250539, + 322.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 606.8578314618924, + 324.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 609.4559076732457, + 325.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 612.0539838845991, + 327.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 614.6520600959525, + 328.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 617.2501363073059, + 330.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 619.8482125186592, + 331.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 622.4462887300126, + 333.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 625.044364941366, + 334.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 627.6424411527194, + 336.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 630.2405173640727, + 337.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 632.8385935754261, + 339.0819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 635.4366697867795, + 340.5819055493854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 638.0347459981328, + 342.0819055493854, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 160.773 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-40_1160063179/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-40_1160063179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8a6179c243810f171ce78bda16194de027aec90 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-47-40_1160063179/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 206.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 203.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 200.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 197.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 194.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 191.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 188.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 185.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 182.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 179.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 176.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 173.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 170.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 167.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 164.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 161.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 158.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 155.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 152.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 149.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 146.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 143.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 140.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 137.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 134.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 131.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 128.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 125.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 125.06118322587326, + 788.4392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 122.46310701451995, + 789.9392421185914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 119.86503080316663, + 791.4392421185914, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-49-17_219994425/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-49-17_219994425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a8497afbbc4841357038647b27dbebfeb627a70 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-49-17_219994425/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 293.8388712326408, + -62.505444367781394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.3388712326408, + -65.10352057913471, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 290.8388712326408, + -67.70159679048803, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.3388712326408, + -70.29967300184134, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 287.8388712326408, + -72.89774921319466, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.3388712326408, + -75.49582542454797, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.8388712326408, + -78.09390163590129, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.3388712326408, + -80.6919778472546, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 281.8388712326408, + -83.29005405860792, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 280.3388712326408, + -85.88813026996124, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 278.8388712326408, + -88.48620648131455, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 277.3388712326408, + -91.08428269266787, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.8388712326408, + -93.68235890402119, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 274.3388712326408, + -96.2804351153745, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 272.8388712326408, + -98.87851132672782, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 271.3388712326408, + -101.47658753808113, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 269.8388712326408, + -104.07466374943445, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 268.3388712326408, + -106.67273996078777, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 266.8388712326408, + -109.27081617214108, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 265.3388712326408, + -111.8688923834944, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 263.8388712326408, + -114.46696859484771, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 262.3388712326408, + -117.06504480620103, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 260.8388712326408, + -119.66312101755435, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 259.3388712326408, + -122.26119722890766, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 257.8388712326408, + -124.85927344026098, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 257.8388712326408, + -124.85927344026098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 255.2407950212875, + -126.35927344026098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 252.6427188099342, + -127.85927344026098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 250.04464259858088, + -129.35927344026098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 247.44656638722756, + -130.85927344026098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 244.84849017587425, + -132.35927344026098, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 149.418 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-6-50_986478257/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-6-50_986478257/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed4f6cdb3215d34d7ba8b40ca7ef84da013a8b6f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-6-50_986478257/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 427.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 430.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 433.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 436.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 445.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 448.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 451.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 454.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 457.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 460.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 463.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 466.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 469.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 472.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 475.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 478.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 481.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 484.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 487.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 490.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 493.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 496.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 499.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 502.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 505.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 508.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 511.88840904439314, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 514.8884090443931, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 517.8884090443931, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 520.8884090443931, + 81.02800551050713, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 520.8884090443931, + 81.02800551050713, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 520.8884090443931, + 81.02800551050713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 522.3884090443931, + 78.42992929915381, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 523.8884090443931, + 75.8318530878005, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 523.8884090443931, + 75.8318530878005, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 526.4864852557464, + 74.3318530878005, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 529.0845614670998, + 72.8318530878005, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 531.6826376784531, + 71.3318530878005, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-11_1073781763/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-11_1073781763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18688f77028ec0852352f2a3114263f402cc2a5d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-11_1073781763/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 190.28102304360297, + 333.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.28102304360297, + 330.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.28102304360297, + 327.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.28102304360297, + 324.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 190.28102304360297, + 321.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.28102304360297, + 318.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 190.28102304360297, + 315.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 190.28102304360297, + 312.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.28102304360297, + 309.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.28102304360297, + 306.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.28102304360297, + 303.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 190.28102304360297, + 300.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 190.28102304360297, + 297.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 190.28102304360297, + 294.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 190.28102304360297, + 291.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 190.28102304360297, + 288.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 190.28102304360297, + 285.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 190.28102304360297, + 282.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 190.28102304360297, + 279.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 190.28102304360297, + 276.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 190.28102304360297, + 273.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 190.28102304360297, + 270.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 190.28102304360297, + 267.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 190.28102304360297, + 264.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 190.28102304360297, + 261.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 190.28102304360297, + 258.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 190.28102304360297, + 255.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 190.28102304360297, + 252.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 190.28102304360297, + 249.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 190.28102304360297, + 246.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 190.28102304360297, + 243.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 190.28102304360297, + 240.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 190.28102304360297, + 237.68368403717903, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 190.28102304360297, + 237.68368403717903, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 191.78102304360297, + 235.08560782582572, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 193.28102304360297, + 232.4875316144724, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 194.78102304360297, + 229.8894554031191, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-57_541110115/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-57_541110115/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd7e8d0f3ab05aed1b7da5ecae855915697b37d5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-0-57_541110115/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -189.78848382066093, + 706.0860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.38656003201424, + 707.5860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.98463624336756, + 709.0860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -197.58271245472088, + 710.5860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -200.1807886660742, + 712.0860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -202.7788648774275, + 713.5860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.37694108878082, + 715.0860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.97501730013414, + 716.5860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -210.57309351148746, + 718.0860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.17116972284077, + 719.5860813666177, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -213.17116972284077, + 719.5860813666177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -214.67116972284077, + 722.1841575779711, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -216.17116972284077, + 724.7822337893244, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -217.67116972284077, + 727.3803100006778, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -219.17116972284077, + 729.9783862120312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.67116972284077, + 732.5764624233846, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -272.0, + 780.0, + 338.618 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-40_1408960629/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-40_1408960629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3928068e55493cf9db9232ba28f502896b7863d3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-40_1408960629/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 576.175915986065, + 391.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 576.175915986065, + 388.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 576.175915986065, + 385.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 576.175915986065, + 382.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 576.175915986065, + 379.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 576.175915986065, + 376.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 576.175915986065, + 373.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 576.175915986065, + 370.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 576.175915986065, + 367.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 576.175915986065, + 364.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 576.175915986065, + 361.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 576.175915986065, + 358.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 576.175915986065, + 355.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 576.175915986065, + 352.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 576.175915986065, + 349.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 576.175915986065, + 346.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 576.175915986065, + 343.4088095304808, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 576.175915986065, + 343.4088095304808, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 576.175915986065, + 343.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 573.5778397747117, + 341.9088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 570.9797635633583, + 340.4088095304808, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 570.9797635633583, + 340.4088095304808, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 569.4797635633583, + 337.8107333191275, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 567.9797635633583, + 335.2126571077742, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 152.802 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-56_888830763/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-56_888830763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4efc0dacada5e2d4a6dbc19be268ba692c3f57d7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-14-56_888830763/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 86.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 83.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 77.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 74.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 71.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 68.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 65.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 62.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 59.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 56.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 53.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 50.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 47.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 44.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 41.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 38.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 38.91983257803474, + 133.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.32175636668143, + 131.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 33.72368015532811, + 130.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 31.125603943974795, + 128.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 28.52752773262148, + 127.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 25.929451521268163, + 125.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 23.331375309914847, + 124.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 20.73329909856153, + 122.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 18.135222887208215, + 121.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 15.537146675854899, + 119.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 12.939070464501583, + 118.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 10.340994253148267, + 116.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 7.742918041794951, + 115.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 5.144841830441635, + 113.59859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2.546765619088319, + 112.09859529615494, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2.546765619088319, + 112.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -0.453234380911681, + 112.09859529615494, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -3.453234380911681, + 112.09859529615494, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -40.0, + 104.0, + 229.562 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-55_989230775/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-55_989230775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4aab29e6d0ed5061a4ea07dfc9091bbb373e499 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-55_989230775/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.49337694639874, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.49337694639874, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 256.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 262.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 268.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 271.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 274.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 277.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 280.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 283.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 286.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 289.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 292.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 301.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 301.4933769463987, + 65.98599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 304.091453157752, + 67.48599955194436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 306.68952936910534, + 68.98599955194436, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + 72.0, + 400.578 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-17-11_1802491982/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-17-11_1802491982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..039feb0548873c1fcf4b502eee6d98ceec357654 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-17-11_1802491982/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 987.8138376254464, + -93.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 987.8138376254464, + -96.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 987.8138376254464, + -99.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 987.8138376254464, + -102.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 987.8138376254464, + -105.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 987.8138376254464, + -108.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 987.8138376254464, + -111.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 987.8138376254464, + -114.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 987.8138376254464, + -117.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 987.8138376254464, + -120.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 987.8138376254464, + -123.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 987.8138376254464, + -126.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 987.8138376254464, + -129.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 987.8138376254464, + -132.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 987.8138376254464, + -135.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 987.8138376254464, + -138.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 987.8138376254464, + -141.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 987.8138376254464, + -144.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 987.8138376254464, + -147.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 987.8138376254464, + -150.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 987.8138376254464, + -153.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 987.8138376254464, + -156.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 987.8138376254464, + -159.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 987.8138376254464, + -162.35622068501533, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 987.8138376254464, + -162.35622068501533, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 989.3138376254464, + -164.95429689636865, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 990.8138376254464, + -167.55237310772196, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 992.3138376254464, + -170.15044931907528, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 993.8138376254464, + -172.7485255304286, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 995.3138376254464, + -175.3466017417819, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 996.8138376254464, + -177.94467795313523, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 998.3138376254464, + -180.54275416448854, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 156.346 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-18-57_173506518/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-18-57_173506518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e923f422ef874ce1073157777031e74734f24325 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-18-57_173506518/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 930.0393697057726, + -1721.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 927.4412934944194, + -1722.616135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 924.843217283066, + -1724.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 922.2451410717126, + -1725.616135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 919.6470648603593, + -1727.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 917.0489886490059, + -1728.616135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 914.4509124376525, + -1730.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 911.8528362262991, + -1731.616135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 909.2547600149458, + -1733.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 906.6566838035924, + -1734.616135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 904.058607592239, + -1736.116135087648, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 904.058607592239, + -1736.116135087648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 902.558607592239, + -1738.7142112990014, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 901.058607592239, + -1741.3122875103547, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 899.558607592239, + -1743.910363721708, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 898.058607592239, + -1746.5084399330615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 896.558607592239, + -1749.1065161444149, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 895.058607592239, + -1751.7045923557682, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 893.558607592239, + -1754.3026685671216, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 892.058607592239, + -1756.900744778475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 890.558607592239, + -1759.4988209898283, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-30-11_1917305981/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-30-11_1917305981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73d4fd0442f81e2145bca1847deeff00f6b08005 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-30-11_1917305981/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.1892435951486, + 800.0133341830998, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 380.6892435951486, + 802.6114103944531, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.1892435951486, + 805.2094866058064, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.6892435951486, + 807.8075628171598, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.1892435951486, + 810.4056390285132, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.6892435951486, + 813.0037152398666, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 388.1892435951486, + 815.6017914512199, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.6892435951486, + 818.1998676625733, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 391.1892435951486, + 820.7979438739267, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.6892435951486, + 823.39602008528, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 394.1892435951486, + 825.9940962966334, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 395.6892435951486, + 828.5921725079868, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 397.1892435951486, + 831.1902487193402, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 398.6892435951486, + 833.7883249306935, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 400.1892435951486, + 836.3864011420469, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 401.6892435951486, + 838.9844773534003, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 403.1892435951486, + 841.5825535647537, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 404.6892435951486, + 844.180629776107, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 406.1892435951486, + 846.7787059874604, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 407.6892435951486, + 849.3767821988138, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 409.1892435951486, + 851.9748584101671, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 410.6892435951486, + 854.5729346215205, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 412.1892435951486, + 857.1710108328739, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 413.6892435951486, + 859.7690870442273, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 415.1892435951486, + 862.3671632555806, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 416.6892435951486, + 864.965239466934, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 418.1892435951486, + 867.5633156782874, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 418.1892435951486, + 867.5633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 420.7873198065019, + 869.0633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 423.3853960178552, + 870.5633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 425.98347222920853, + 872.0633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 428.58154844056185, + 873.5633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 431.17962465191516, + 875.0633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 433.7777008632685, + 876.5633156782874, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 433.7777008632685, + 876.5633156782874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 435.2777008632685, + 879.1613918896408, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-55-54_1917104697/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-55-54_1917104697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01be32c1c0bcad96823c4fb4ae6da23d2f149590 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-55-54_1917104697/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 301.68160843989773, + -896.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 304.27968465125105, + -897.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.87776086260436, + -899.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 309.4758370739577, + -900.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.073913285311, + -902.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 314.6719894966643, + -903.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 317.2700657080176, + -905.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 319.86814191937094, + -906.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.46621813072426, + -908.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 325.0642943420776, + -909.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 327.6623705534309, + -911.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 330.2604467647842, + -912.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 332.8585229761375, + -914.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 335.45659918749084, + -915.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 338.05467539884415, + -917.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.65275161019747, + -918.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 343.2508278215508, + -920.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 345.8489040329041, + -921.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 348.4469802442574, + -923.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 351.04505645561073, + -924.638546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 353.64313266696405, + -926.138546366315, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 353.64313266696405, + -926.138546366315, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 355.14313266696405, + -928.7366225776684, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 356.64313266696405, + -931.3346987890218, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 358.14313266696405, + -933.9327750003752, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 359.64313266696405, + -936.5308512117285, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 361.14313266696405, + -939.1289274230819, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.64313266696405, + -941.7270036344353, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 364.14313266696405, + -944.3250798457887, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 365.64313266696405, + -946.923156057142, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 367.14313266696405, + -949.5212322684954, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 367.14313266696405, + -949.5212322684954, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 369.74120887831737, + -951.0212322684954, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 372.3392850896707, + -952.5212322684954, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 374.937361301024, + -954.0212322684954, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 143.522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-7-49_1953197930/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-7-49_1953197930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92adccb587b66468e417a4878f70d89def19e052 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-7-49_1953197930/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 500.97377036362684, + -243.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 500.97377036362684, + -240.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 500.97377036362684, + -237.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 500.97377036362684, + -234.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 500.97377036362684, + -231.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 500.97377036362684, + -228.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 500.97377036362684, + -225.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 500.97377036362684, + -222.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 500.97377036362684, + -219.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 500.97377036362684, + -216.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 500.97377036362684, + -213.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 500.97377036362684, + -210.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 500.97377036362684, + -207.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 500.97377036362684, + -204.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 500.97377036362684, + -201.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 500.97377036362684, + -198.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 500.97377036362684, + -195.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 500.97377036362684, + -192.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 500.97377036362684, + -189.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 500.97377036362684, + -186.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 500.97377036362684, + -183.84005113224168, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 500.97377036362684, + -183.84005113224168, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 499.47377036362684, + -181.24197492088837, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.97377036362684, + -178.64389870953505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 496.47377036362684, + -176.04582249818174, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 494.97377036362684, + -173.44774628682842, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 493.47377036362684, + -170.8496700754751, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 491.97377036362684, + -168.2515938641218, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 490.47377036362684, + -165.65351765276847, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 488.97377036362684, + -163.05544144141516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 487.47377036362684, + -160.45736523006184, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 487.47377036362684, + -160.45736523006184, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 487.47377036362684, + -157.45736523006184, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-0-32_1942481690/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-0-32_1942481690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6faa4abd5b42c5d190631efd272751970b338758 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-0-32_1942481690/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 7.117307193600766, + 676.9293909974572, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 8.617307193600766, + 679.5274672088105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.117307193600766, + 682.1255434201639, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 11.617307193600766, + 684.7236196315173, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 13.117307193600766, + 687.3216958428707, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 14.617307193600766, + 689.919772054224, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 16.117307193600766, + 692.5178482655774, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 17.617307193600766, + 695.1159244769308, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 19.117307193600766, + 697.7140006882842, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 20.617307193600766, + 700.3120768996375, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 22.117307193600766, + 702.9101531109909, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 23.617307193600766, + 705.5082293223443, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.117307193600766, + 708.1063055336977, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 26.617307193600766, + 710.704381745051, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.117307193600766, + 713.3024579564044, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 29.617307193600766, + 715.9005341677578, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 31.117307193600766, + 718.4986103791111, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.617307193600766, + 721.0966865904645, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.117307193600766, + 723.6947628018179, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 35.617307193600766, + 726.2928390131713, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 37.117307193600766, + 728.8909152245246, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 38.617307193600766, + 731.488991435878, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.117307193600766, + 734.0870676472314, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.617307193600766, + 736.6851438585848, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 43.117307193600766, + 739.2832200699381, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 44.617307193600766, + 741.8812962812915, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 46.117307193600766, + 744.4793724926449, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.617307193600766, + 747.0774487039982, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 49.117307193600766, + 749.6755249153516, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 50.617307193600766, + 752.273601126705, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 52.117307193600766, + 754.8716773380584, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 53.617307193600766, + 757.4697535494117, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 55.117307193600766, + 760.0678297607651, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.617307193600766, + 762.6659059721185, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.117307193600766, + 765.2639821834719, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 59.617307193600766, + 767.8620583948252, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 61.117307193600766, + 770.4601346061786, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 61.117307193600766, + 770.4601346061786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 63.71538340495408, + 771.9601346061786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 66.3134596163074, + 773.4601346061786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 68.91153582766071, + 774.9601346061786, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 71.50961203901403, + 776.4601346061786, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-23-15_1922018481/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-23-15_1922018481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f311b7f2c85af8a0ddff58267fe0f5255f39a2a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-23-15_1922018481/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 570.8279557738443, + 541.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 570.8279557738443, + 544.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.8279557738443, + 547.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 570.8279557738443, + 550.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 570.8279557738443, + 553.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 570.8279557738443, + 556.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 570.8279557738443, + 559.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 570.8279557738443, + 562.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 570.8279557738443, + 565.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 570.8279557738443, + 568.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 570.8279557738443, + 571.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 570.8279557738443, + 574.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 570.8279557738443, + 577.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 570.8279557738443, + 580.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 570.8279557738443, + 583.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 570.8279557738443, + 586.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 570.8279557738443, + 589.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 570.8279557738443, + 592.9897602804031, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 570.8279557738443, + 592.9897602804031, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 570.8279557738443, + 592.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 568.2298795624911, + 594.4897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 565.6318033511377, + 595.9897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 563.0337271397843, + 597.4897602804031, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 563.0337271397843, + 597.4897602804031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 561.5337271397843, + 600.0878364917564, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 560.0337271397843, + 602.6859127031098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 558.5337271397843, + 605.2839889144632, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + 668.0, + 143.189 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-37_936621968/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-37_936621968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..473e02bb0e0188a568c9d2dd0d8e4931db2e2231 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-37_936621968/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 295.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 301.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 304.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 307.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 313.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 316.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 319.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 325.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 328.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 331.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 334.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 337.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 343.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 349.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 352.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 352.90493076196003, + 729.5504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 355.50300697331335, + 731.0504998317615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 358.10108318466666, + 732.5504998317615, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 172.46 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-53_1312313043/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-53_1312313043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea0104f5d1d960584090604e0eb80fcdec2d89df --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-3-53_1312313043/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.8724357661615, + -74.32971499373815, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.3724357661615, + -76.92779120509147, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 401.8724357661615, + -79.52586741644478, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 403.3724357661615, + -82.1239436277981, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 404.8724357661615, + -84.72201983915141, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 406.3724357661615, + -87.32009605050473, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 406.3724357661615, + -87.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 408.97051197751483, + -88.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.56858818886815, + -90.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 414.16666440022146, + -91.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.7647406115748, + -93.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.3628168229281, + -94.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 421.9608930342814, + -96.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.5589692456347, + -97.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.15704545698804, + -99.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 429.75512166834136, + -100.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.3531978796947, + -102.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.951274091048, + -103.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.5493503024013, + -105.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 440.1474265137546, + -106.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 442.74550272510794, + -108.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.34357893646126, + -109.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 447.9416551478146, + -111.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.5397313591679, + -112.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.1378075705212, + -114.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 455.7358837818745, + -115.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.33395999322784, + -117.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 460.93203620458115, + -118.82009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 463.53011241593447, + -120.32009605050473, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 466.1281886272878, + -121.82009605050473, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-54_1262486766/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-54_1262486766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19f882f8a565d0b65e5d9735b26fef90d478934f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-54_1262486766/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 417.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 420.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 423.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 426.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 429.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 432.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 435.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 438.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 441.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 444.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 447.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 450.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 453.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 456.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 459.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 462.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 465.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 468.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 471.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 474.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 477.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 477.20697537180416, + 643.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 479.8050515831575, + 645.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 482.4031277945108, + 646.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 485.0012040058641, + 648.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 487.5992802172174, + 649.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 490.19735642857074, + 651.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 492.79543263992406, + 652.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 495.3935088512774, + 654.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 497.9915850626307, + 655.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 500.589661273984, + 657.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 503.1877374853373, + 658.696914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 505.78581369669064, + 660.196914946444, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 505.78581369669064, + 660.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 508.78581369669064, + 660.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 511.78581369669064, + 660.196914946444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 514.7858136966906, + 660.196914946444, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + 668.0, + 143.189 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-43-4_1182176620/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-43-4_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef09284481d8e80daf0617a92e3a9271ac2719ee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-43-4_1182176620/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 819.7562064065809, + -1768.1324302202986, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 821.2562064065809, + -1765.5343540089452, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.7562064065809, + -1762.9362777975919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 824.2562064065809, + -1760.3382015862385, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 825.7562064065809, + -1757.740125374885, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 827.2562064065809, + -1755.1420491635317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 828.7562064065809, + -1752.5439729521784, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 830.2562064065809, + -1749.945896740825, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 831.7562064065809, + -1747.3478205294716, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 833.2562064065809, + -1744.7497443181182, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 834.7562064065809, + -1742.1516681067649, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 836.2562064065809, + -1739.5535918954115, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 836.2562064065809, + -1739.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 838.8542826179341, + -1738.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 841.4523588292875, + -1736.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 844.0504350406409, + -1735.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 846.6485112519943, + -1733.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 849.2465874633476, + -1732.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 851.844663674701, + -1730.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 854.4427398860544, + -1729.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 857.0408160974077, + -1727.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 859.6388923087611, + -1726.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 862.2369685201145, + -1724.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 864.8350447314679, + -1723.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 867.4331209428212, + -1721.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 870.0311971541746, + -1720.0535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 872.629273365528, + -1718.5535918954115, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 872.629273365528, + -1718.5535918954115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 874.129273365528, + -1715.9555156840581, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 875.629273365528, + -1713.3574394727048, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 877.129273365528, + -1710.7593632613514, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 878.629273365528, + -1708.161287049998, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 880.129273365528, + -1705.5632108386446, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 881.629273365528, + -1702.9651346272913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 883.129273365528, + -1700.367058415938, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-20_1189914410/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-20_1189914410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10e8c899ceeb6272ff67d587077cf3a1e21721eb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-20_1189914410/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 359.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 362.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 365.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 368.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 371.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 374.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 377.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 380.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 389.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 389.5248687241841, + 583.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 392.1229449355374, + 584.5477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 394.72102114689073, + 586.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 397.31909735824405, + 587.5477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 399.91717356959737, + 589.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 402.5152497809507, + 590.5477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 405.113325992304, + 592.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 407.7114022036573, + 593.5477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 410.30947841501063, + 595.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 412.90755462636395, + 596.5477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 415.50563083771726, + 598.0477111440919, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 415.50563083771726, + 598.0477111440919, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 418.50563083771726, + 598.0477111440919, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + 608.0, + 143.444 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-5-34_1322710936/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-5-34_1322710936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..730ee05e0f7e911f0048491c0f4058fb3b534a82 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-5-34_1322710936/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 63.92490694746195, + -248.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 63.92490694746195, + -245.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 63.92490694746195, + -242.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 63.92490694746195, + -239.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 63.92490694746195, + -236.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 63.92490694746195, + -233.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 63.92490694746195, + -230.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.92490694746195, + -227.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 63.92490694746195, + -224.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 63.92490694746195, + -221.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 63.92490694746195, + -218.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 63.92490694746195, + -215.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.92490694746195, + -212.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 63.92490694746195, + -209.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 63.92490694746195, + -206.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.92490694746195, + -203.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 63.92490694746195, + -200.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 63.92490694746195, + -197.85140419961084, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 63.92490694746195, + -197.85140419961084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 65.42490694746195, + -195.25332798825752, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 66.92490694746195, + -192.6552517769042, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 68.42490694746195, + -190.0571755655509, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 69.92490694746195, + -187.45909935419758, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 71.42490694746195, + -184.86102314284426, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 72.92490694746195, + -182.26294693149094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 74.42490694746195, + -179.66487072013763, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 75.92490694746195, + -177.0667945087843, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 77.42490694746195, + -174.468718297431, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 78.92490694746195, + -171.87064208607768, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 80.42490694746195, + -169.27256587472436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 81.92490694746195, + -166.67448966337105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 83.42490694746195, + -164.07641345201773, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -140.0, + 151.491 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-57-21_7426169/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-57-21_7426169/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dc00c88e56825eb7ee2d8a5d1cb802d50580a0b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-57-21_7426169/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 723.9873426896222, + -1049.2167969178306, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 725.4873426896222, + -1051.814873129184, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 726.9873426896222, + -1054.4129493405374, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 728.4873426896222, + -1057.0110255518907, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 729.9873426896222, + -1059.609101763244, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 731.4873426896222, + -1062.2071779745975, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 732.9873426896222, + -1064.8052541859508, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 734.4873426896222, + -1067.4033303973042, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 735.9873426896222, + -1070.0014066086576, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 737.4873426896222, + -1072.599482820011, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 738.9873426896222, + -1075.1975590313643, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 740.4873426896222, + -1077.7956352427177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 741.9873426896222, + -1080.393711454071, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 743.4873426896222, + -1082.9917876654245, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 744.9873426896222, + -1085.5898638767778, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 746.4873426896222, + -1088.1879400881312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 747.9873426896222, + -1090.7860162994846, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 749.4873426896222, + -1093.384092510838, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 750.9873426896222, + -1095.9821687221913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 752.4873426896222, + -1098.5802449335447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 753.9873426896222, + -1101.178321144898, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 755.4873426896222, + -1103.7763973562514, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 756.9873426896222, + -1106.3744735676048, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 758.4873426896222, + -1108.9725497789582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 759.9873426896222, + -1111.5706259903116, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 759.9873426896222, + -1111.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 759.9873426896222, + -1114.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 759.9873426896222, + -1117.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 759.9873426896222, + -1120.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 759.9873426896222, + -1123.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 759.9873426896222, + -1126.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 759.9873426896222, + -1129.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 759.9873426896222, + -1132.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 759.9873426896222, + -1135.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 759.9873426896222, + -1138.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 759.9873426896222, + -1141.5706259903116, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 759.9873426896222, + -1144.5706259903116, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-8-10_1992232983/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-8-10_1992232983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ae783e53d70286631a0486e3d77357b950dd671 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-8-10_1992232983/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 913.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 916.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 919.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 922.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 925.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 928.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 928.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 928.969009033656, + -126.80121347755613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 930.469009033656, + -129.39928968890945, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 931.969009033656, + -131.99736590026276, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 933.469009033656, + -134.59544211161608, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 934.969009033656, + -137.1935183229694, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 936.469009033656, + -139.7915945343227, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 937.969009033656, + -142.38967074567603, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.469009033656, + -144.98774695702934, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 940.969009033656, + -147.58582316838266, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 942.469009033656, + -150.18389937973598, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 943.969009033656, + -152.7819755910893, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.469009033656, + -155.3800518024426, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 946.969009033656, + -157.97812801379592, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 948.469009033656, + -160.57620422514924, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 949.969009033656, + -163.17428043650256, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 951.469009033656, + -165.77235664785587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 952.969009033656, + -168.3704328592092, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 954.469009033656, + -170.9685090705625, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 955.969009033656, + -173.56658528191582, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 955.969009033656, + -173.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 958.5670852450094, + -175.06658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 961.1651614563627, + -176.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 963.7632376677161, + -178.06658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 966.3613138790695, + -179.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 968.9593900904229, + -181.06658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 971.5574663017762, + -182.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 974.1555425131296, + -184.06658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 976.753618724483, + -185.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 979.3516949358363, + -187.06658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 981.9497711471897, + -188.56658528191582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 984.5478473585431, + -190.06658528191582, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 156.346 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-11-31_1166437685/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-11-31_1166437685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..575b2c2268ef2c769787589bb23d3c48c48a1288 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-11-31_1166437685/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 317.70402677975255, + -207.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 315.10595056839924, + -206.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.5078743570459, + -204.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 309.9097981456926, + -203.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 307.3117219343393, + -201.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 304.713645722986, + -200.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 302.11556951163266, + -198.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.51749330027934, + -197.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 296.919417088926, + -195.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 294.3213408775727, + -194.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 291.7232646662194, + -192.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 289.1251884548661, + -191.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 286.52711224351276, + -189.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 283.92903603215944, + -188.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.33095982080613, + -186.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 278.7328836094528, + -185.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 276.1348073980995, + -183.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 273.5367311867462, + -182.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 270.93865497539286, + -180.6668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 268.34057876403955, + -179.1668593112498, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.34057876403955, + -179.1668593112498, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 266.84057876403955, + -176.56878309989648, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 149.418 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-14-34_1470796522/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-14-34_1470796522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11010700c1be7b098f8b197f753c29843b29f826 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-14-34_1470796522/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1115.7581792079616, + -251.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1113.1601029966082, + -249.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1110.5620267852548, + -248.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1107.9639505739015, + -246.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1105.365874362548, + -245.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1102.7677981511947, + -243.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1100.1697219398413, + -242.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1097.571645728488, + -240.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1094.9735695171346, + -239.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1092.3754933057812, + -237.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1089.7774170944278, + -236.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1087.1793408830745, + -234.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1084.581264671721, + -233.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1081.9831884603677, + -231.57697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1079.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1079.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1076.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1073.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1070.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1067.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1064.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1061.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1058.3851122490144, + -230.07697020292818, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 156.346 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-18-38_1654844049/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-18-38_1654844049/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..022f1d0909a74760b57ea14f58fa8208ca85e657 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-18-38_1654844049/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.24500769675306, + 902.8790824744922, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.74500769675306, + 905.4771586858456, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 92.24500769675306, + 908.0752348971989, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 93.74500769675306, + 910.6733111085523, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 95.24500769675306, + 913.2713873199057, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 96.74500769675306, + 915.869463531259, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.24500769675306, + 918.4675397426124, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.74500769675306, + 921.0656159539658, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.24500769675306, + 923.6636921653192, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.74500769675306, + 926.2617683766725, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 104.24500769675306, + 928.8598445880259, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 105.74500769675306, + 931.4579207993793, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.24500769675306, + 934.0559970107327, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.74500769675306, + 936.654073222086, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 110.24500769675306, + 939.2521494334394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 111.74500769675306, + 941.8502256447928, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 113.24500769675306, + 944.4483018561461, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 114.74500769675306, + 947.0463780674995, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 116.24500769675306, + 949.6444542788529, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 117.74500769675306, + 952.2425304902063, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 119.24500769675306, + 954.8406067015596, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 120.74500769675306, + 957.438682912913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 122.24500769675306, + 960.0367591242664, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 123.74500769675306, + 962.6348353356198, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.74500769675306, + 962.6348353356198, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 123.74500769675306, + 965.6348353356198, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 123.74500769675306, + 968.6348353356198, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 123.74500769675306, + 971.6348353356198, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 123.74500769675306, + 974.6348353356198, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.0, + 1020.0, + 145.009 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-27-46_1410681417/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-27-46_1410681417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c76db7913973394dd4a7b69d74a08b46c65744b2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-27-46_1410681417/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 236.61461262633085, + 72.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 236.61461262633085, + 75.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 236.61461262633085, + 78.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.61461262633085, + 81.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 236.61461262633085, + 84.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 236.61461262633085, + 87.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 236.61461262633085, + 90.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 236.61461262633085, + 93.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 236.61461262633085, + 96.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 236.61461262633085, + 99.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 236.61461262633085, + 102.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 236.61461262633085, + 105.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.61461262633085, + 108.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.61461262633085, + 111.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 236.61461262633085, + 114.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 236.61461262633085, + 117.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 236.61461262633085, + 120.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 236.61461262633085, + 123.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 236.61461262633085, + 126.43749627427586, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 236.61461262633085, + 129.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.61461262633085, + 132.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 236.61461262633085, + 135.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 236.61461262633085, + 138.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 236.61461262633085, + 141.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 236.61461262633085, + 144.43749627427587, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 236.61461262633085, + 144.43749627427587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 235.11461262633085, + 147.0355724856292, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 233.61461262633085, + 149.6336486969825, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 232.11461262633085, + 152.23172490833582, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 230.61461262633085, + 154.82980111968914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 229.11461262633085, + 157.42787733104245, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-29-13_1278792724/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-29-13_1278792724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5814710490710ca086b6220be9119109ad8bb989 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-29-13_1278792724/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 651.2711658910586, + 647.4200407638534, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 649.7711658910586, + 644.8219645525, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 648.2711658910586, + 642.2238883411467, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 646.7711658910586, + 639.6258121297933, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 645.2711658910586, + 637.0277359184399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 643.7711658910586, + 634.4296597070866, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 642.2711658910586, + 631.8315834957332, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 640.7711658910586, + 629.2335072843798, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 639.2711658910586, + 626.6354310730264, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 637.7711658910586, + 624.0373548616731, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 636.2711658910586, + 621.4392786503197, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 634.7711658910586, + 618.8412024389663, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 633.2711658910586, + 616.243126227613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 631.7711658910586, + 613.6450500162596, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 630.2711658910586, + 611.0469738049062, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 628.7711658910586, + 608.4488975935528, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 627.2711658910586, + 605.8508213821995, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 625.7711658910586, + 603.2527451708461, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 624.2711658910586, + 600.6546689594927, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 622.7711658910586, + 598.0565927481393, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 622.7711658910586, + 598.0565927481393, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 620.1730896797053, + 596.5565927481393, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 596.0, + 560.0, + 156.155 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-29_372315265/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-29_372315265/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f584598c1d97a3376db34628be26cc566de7f5e9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-29_372315265/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 845.0732064369062, + -1062.420319522478, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 843.5732064369062, + -1065.0183957338313, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 842.0732064369062, + -1067.6164719451847, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 840.5732064369062, + -1070.214548156538, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 839.0732064369062, + -1072.8126243678914, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 837.5732064369062, + -1075.4107005792448, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 836.0732064369062, + -1078.0087767905982, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 834.5732064369062, + -1080.6068530019515, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 833.0732064369062, + -1083.204929213305, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 831.5732064369062, + -1085.8030054246583, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 830.0732064369062, + -1088.4010816360117, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 828.5732064369062, + -1090.999157847365, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 827.0732064369062, + -1093.5972340587184, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 825.5732064369062, + -1096.1953102700718, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 824.0732064369062, + -1098.7933864814252, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 822.5732064369062, + -1101.3914626927785, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 821.0732064369062, + -1103.989538904132, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 819.5732064369062, + -1106.5876151154853, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 818.0732064369062, + -1109.1856913268387, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 816.5732064369062, + -1111.783767538192, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 815.0732064369062, + -1114.3818437495454, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 813.5732064369062, + -1116.9799199608988, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 812.0732064369062, + -1119.5779961722521, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 810.5732064369062, + -1122.1760723836055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 809.0732064369062, + -1124.774148594959, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 807.5732064369062, + -1127.3722248063123, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 806.0732064369062, + -1129.9703010176656, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.0732064369062, + -1129.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 803.4751302255529, + -1131.4703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 800.8770540141995, + -1132.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 798.2789778028462, + -1134.4703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 795.6809015914928, + -1135.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 793.0828253801394, + -1137.4703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 790.484749168786, + -1138.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 787.8866729574327, + -1140.4703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 785.2885967460793, + -1141.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 782.6905205347259, + -1143.4703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 780.0924443233725, + -1144.9703010176656, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 777.4943681120192, + -1146.4703010176656, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-52_878777377/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-52_878777377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be305c21889666965a53bb750deac2047d018277 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-40-52_878777377/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -941.7138072968279, + -277.7374741201312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -943.2138072968279, + -280.3355503314845, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -944.7138072968279, + -282.9336265428378, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -946.2138072968279, + -285.53170275419114, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -947.7138072968279, + -288.12977896554446, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -949.2138072968279, + -290.7278551768978, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -950.7138072968279, + -293.3259313882511, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -952.2138072968279, + -295.9240075996044, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -953.7138072968279, + -298.5220838109577, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -955.2138072968279, + -301.12016002231104, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -956.7138072968279, + -303.71823623366436, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -958.2138072968279, + -306.3163124450177, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.7138072968279, + -308.914388656371, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -961.2138072968279, + -311.5124648677243, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -962.7138072968279, + -314.1105410790776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -964.2138072968279, + -316.70861729043094, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -964.2138072968279, + -316.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -966.8118835081812, + -318.20861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -969.4099597195345, + -319.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -972.0080359308879, + -321.20861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -974.6061121422413, + -322.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -977.2041883535946, + -324.20861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -979.802264564948, + -325.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -982.4003407763014, + -327.20861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -984.9984169876548, + -328.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -987.5964931990081, + -330.20861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -990.1945694103615, + -331.70861729043094, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -992.7926456217149, + -333.20861729043094, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1020.0, + -360.0, + 147.526 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-45-26_1906889260/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-45-26_1906889260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..823877362ef7976e56679759da5e5f7487cbfc0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-45-26_1906889260/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -200.3490555788406, + 57.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -202.9471317901939, + 58.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -205.54520800154722, + 60.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -208.14328421290054, + 61.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -210.74136042425386, + 63.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.33943663560717, + 64.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.9375128469605, + 66.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -218.5355890583138, + 67.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -221.13366526966712, + 69.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -223.73174148102044, + 70.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -226.32981769237375, + 72.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -228.92789390372707, + 73.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -231.52597011508038, + 75.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -234.1240463264337, + 76.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -236.72212253778702, + 78.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -239.32019874914033, + 79.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -241.91827496049365, + 81.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -244.51635117184696, + 82.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -247.11442738320028, + 84.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -249.7125035945536, + 85.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -252.3105798059069, + 87.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -254.90865601726023, + 88.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -257.50673222861354, + 90.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -260.10480843996686, + 91.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -262.7028846513202, + 93.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -265.3009608626735, + 94.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -267.8990370740268, + 96.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -270.4971132853801, + 97.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -273.09518949673344, + 99.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -275.69326570808676, + 100.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -278.2913419194401, + 102.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -280.8894181307934, + 103.50485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -283.4874943421467, + 105.00485898153781, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -283.4874943421467, + 105.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -286.4874943421467, + 105.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -289.4874943421467, + 105.00485898153781, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -292.4874943421467, + 105.00485898153781, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 153.562 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-47-28_141413008/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-47-28_141413008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3bde52fd3aa7ad763cb1d5364298335742a5fb2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-47-28_141413008/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.68461788788, + 232.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 668.0865416765266, + 233.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 665.4884654651732, + 235.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 662.8903892538199, + 236.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 660.2923130424665, + 238.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 657.6942368311131, + 239.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 655.0961606197598, + 241.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 652.4980844084064, + 242.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 649.900008197053, + 244.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 647.3019319856996, + 245.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 644.7038557743463, + 247.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 642.1057795629929, + 248.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 639.5077033516395, + 250.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 636.9096271402861, + 251.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 634.3115509289328, + 253.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 631.7134747175794, + 254.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 629.115398506226, + 256.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 626.5173222948727, + 257.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 623.9192460835193, + 259.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 621.3211698721659, + 260.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 618.7230936608125, + 262.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 616.1250174494592, + 263.7302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 613.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 613.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 610.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 607.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 604.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 601.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 598.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 595.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 592.5269412381058, + 265.2302229846045, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 152.802 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-5-31_1443145325/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-5-31_1443145325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28602b61d467e92459f3f45fe3f4031c89fddf31 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-5-31_1443145325/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 453.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 456.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 459.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 462.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 465.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 468.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 471.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 474.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 477.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 480.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 483.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 483.0998757977535, + 521.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.6979520091068, + 522.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 488.29602822046013, + 524.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 490.89410443181345, + 525.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 493.49218064316676, + 527.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 496.0902568545201, + 528.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 498.6883330658734, + 530.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 501.2864092772267, + 531.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 503.88448548858, + 533.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 506.48256169993334, + 534.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 509.08063791128666, + 536.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 511.67871412264, + 537.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 514.2767903339933, + 539.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 516.8748665453465, + 540.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 519.4729427566999, + 542.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 522.0710189680533, + 543.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 524.6690951794067, + 545.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 527.26717139076, + 546.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 529.8652476021134, + 548.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 532.4633238134668, + 549.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 535.0614000248202, + 551.3577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 537.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 537.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 540.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 543.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 546.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 549.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 552.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 555.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 558.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 561.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 564.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 567.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 570.6594762361735, + 552.8577713310879, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 596.0, + 560.0, + 156.155 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-54-48_327727208/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-54-48_327727208/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e6b278a2680384f0759468c83fec2c73141bde0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-54-48_327727208/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 193.68082853668238, + 324.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.68082853668238, + 321.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 193.68082853668238, + 318.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.68082853668238, + 315.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 193.68082853668238, + 312.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 193.68082853668238, + 309.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 193.68082853668238, + 306.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 193.68082853668238, + 303.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 193.68082853668238, + 300.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 193.68082853668238, + 297.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 193.68082853668238, + 294.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 193.68082853668238, + 291.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 193.68082853668238, + 288.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 193.68082853668238, + 285.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 193.68082853668238, + 282.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 193.68082853668238, + 279.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 193.68082853668238, + 276.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 193.68082853668238, + 273.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 193.68082853668238, + 270.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 193.68082853668238, + 267.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 193.68082853668238, + 264.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 193.68082853668238, + 261.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 193.68082853668238, + 258.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 193.68082853668238, + 255.23327649472856, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 193.68082853668238, + 255.23327649472856, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.68082853668238, + 255.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 196.2789047480357, + 253.73327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 198.87698095938902, + 252.23327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 201.47505717074233, + 250.73327649472856, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 201.47505717074233, + 250.73327649472856, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 202.97505717074233, + 248.13520028337524, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 204.47505717074233, + 245.53712407202192, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 205.97505717074233, + 242.9390478606686, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 446.603 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-55-9_1470593630/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-55-9_1470593630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d703be013bb73903864ddb669e42fbef9c0b810 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-55-9_1470593630/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 654.9308113314543, + -1202.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 654.9308113314543, + -1199.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 654.9308113314543, + -1196.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 654.9308113314543, + -1193.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 654.9308113314543, + -1190.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 654.9308113314543, + -1187.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 654.9308113314543, + -1184.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 654.9308113314543, + -1181.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 654.9308113314543, + -1178.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 654.9308113314543, + -1175.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 654.9308113314543, + -1172.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 654.9308113314543, + -1169.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 654.9308113314543, + -1166.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 654.9308113314543, + -1163.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 654.9308113314543, + -1160.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 654.9308113314543, + -1157.7346359730373, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 654.9308113314543, + -1157.7346359730373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 656.4308113314543, + -1155.1365597616839, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 657.9308113314543, + -1152.5384835503305, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 659.4308113314543, + -1149.9404073389771, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 660.9308113314543, + -1147.3423311276238, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 662.4308113314543, + -1144.7442549162704, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 663.9308113314543, + -1142.146178704917, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 665.4308113314543, + -1139.5481024935636, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 666.9308113314543, + -1136.9500262822103, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 668.4308113314543, + -1134.351950070857, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 669.9308113314543, + -1131.7538738595035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 671.4308113314543, + -1129.1557976481502, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 672.9308113314543, + -1126.5577214367968, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 674.4308113314543, + -1123.9596452254434, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 675.9308113314543, + -1121.36156901409, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 677.4308113314543, + -1118.7634928027367, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 677.4308113314543, + -1118.7634928027367, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 677.4308113314543, + -1115.7634928027367, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 677.4308113314543, + -1112.7634928027367, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-43_234686974/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-43_234686974/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38aa2d9adde3b959196754035c71fc19523ecc5f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-43_234686974/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 683.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 680.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 677.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 674.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 671.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 668.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 665.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 662.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 659.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 656.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 653.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 650.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 647.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 644.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 641.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 638.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 635.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 635.7465901506023, + 93.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 633.1485139392489, + 91.9374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 630.5504377278955, + 90.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 627.9523615165422, + 88.9374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 625.3542853051888, + 87.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 622.7562090938354, + 85.9374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 620.158132882482, + 84.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 617.5600566711287, + 82.9374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 614.9619804597753, + 81.4374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 612.3639042484219, + 79.9374334586421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 609.7658280370686, + 78.4374334586421, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-21-15_435482362/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-21-15_435482362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05bd72bc01e50765d732af952f213d8b41f8bfb6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-21-15_435482362/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 591.1365264696016, + -995.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 593.7346026809548, + -996.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 596.3326788923082, + -998.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 598.9307551036616, + -999.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 601.5288313150149, + -1001.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 604.1269075263683, + -1002.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 606.7249837377217, + -1004.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 609.3230599490751, + -1005.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 611.9211361604284, + -1007.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 614.5192123717818, + -1008.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 617.1172885831352, + -1010.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 619.7153647944886, + -1011.7801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 622.3134410058419, + -1013.2801256050059, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 622.3134410058419, + -1013.2801256050059, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 623.8134410058419, + -1015.8782018163593, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 625.3134410058419, + -1018.4762780277126, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 626.8134410058419, + -1021.074354239066, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 628.3134410058419, + -1023.6724304504194, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 629.8134410058419, + -1026.2705066617727, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 631.3134410058419, + -1028.8685828731261, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 632.8134410058419, + -1031.4666590844795, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 634.3134410058419, + -1034.0647352958329, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 635.8134410058419, + -1036.6628115071862, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 637.3134410058419, + -1039.2608877185396, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 638.8134410058419, + -1041.858963929893, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 640.3134410058419, + -1044.4570401412464, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 641.8134410058419, + -1047.0551163525997, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 643.3134410058419, + -1049.653192563953, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 643.3134410058419, + -1049.653192563953, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 645.9115172171953, + -1051.153192563953, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 648.5095934285487, + -1052.653192563953, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-22-43_1196153579/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-22-43_1196153579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0cf203cb549c5514b0ff27e9c3fe17caf12bb6c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-22-43_1196153579/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1069.2536172225443, + -469.677584109225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1067.7536172225443, + -467.0795078978717, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1066.2536172225443, + -464.48143168651836, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1064.7536172225443, + -461.88335547516505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1063.2536172225443, + -459.28527926381173, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1061.7536172225443, + -456.6872030524584, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1060.2536172225443, + -454.0891268411051, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1058.7536172225443, + -451.4910506297518, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1057.2536172225443, + -448.89297441839847, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1055.7536172225443, + -446.29489820704515, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1054.2536172225443, + -443.69682199569183, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1052.7536172225443, + -441.0987457843385, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1051.2536172225443, + -438.5006695729852, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1049.7536172225443, + -435.9025933616319, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1048.2536172225443, + -433.30451715027857, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1046.7536172225443, + -430.70644093892525, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1045.2536172225443, + -428.10836472757194, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1043.7536172225443, + -425.5102885162186, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1042.2536172225443, + -422.9122123048653, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1040.7536172225443, + -420.314136093512, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1039.2536172225443, + -417.7160598821587, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1037.7536172225443, + -415.11798367080536, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1036.2536172225443, + -412.51990745945204, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1036.2536172225443, + -412.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1036.2536172225443, + -409.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1036.2536172225443, + -406.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1036.2536172225443, + -403.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1036.2536172225443, + -400.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1036.2536172225443, + -397.51990745945204, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1036.2536172225443, + -394.51990745945204, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1020.0, + -360.0, + 147.526 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-23-43_278608944/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-23-43_278608944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc2ba1dd3d15aec28603989be678a6e9d13102ef --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-23-43_278608944/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.99969199266178, + 573.9541615304372, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 104.49969199266178, + 576.5522377417906, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 105.99969199266178, + 579.150313953144, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.49969199266178, + 581.7483901644973, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.99969199266178, + 584.3464663758507, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 110.49969199266178, + 586.9445425872041, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 111.99969199266178, + 589.5426187985574, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.49969199266178, + 592.1406950099108, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.99969199266178, + 594.7387712212642, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.49969199266178, + 597.3368474326176, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 117.99969199266178, + 599.9349236439709, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.49969199266178, + 602.5329998553243, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 120.99969199266178, + 605.1310760666777, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 122.49969199266178, + 607.729152278031, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.99969199266178, + 610.3272284893844, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 125.49969199266178, + 612.9253047007378, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 126.99969199266178, + 615.5233809120912, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 128.49969199266178, + 618.1214571234445, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.99969199266178, + 620.7195333347979, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.49969199266178, + 623.3176095461513, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 132.99969199266178, + 625.9156857575047, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.49969199266178, + 628.513761968858, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.99969199266178, + 631.1118381802114, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 137.49969199266178, + 633.7099143915648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.99969199266178, + 636.3079906029182, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 140.49969199266178, + 638.9060668142715, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 141.99969199266178, + 641.5041430256249, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 141.99969199266178, + 641.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 141.99969199266178, + 644.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 141.99969199266178, + 647.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 141.99969199266178, + 650.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 141.99969199266178, + 653.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 141.99969199266178, + 656.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 141.99969199266178, + 659.5041430256249, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 141.99969199266178, + 662.5041430256249, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-34-41_574690958/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-34-41_574690958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e38fbc20e4c4a1293ea19d9f84030dc49d6d5ec2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-34-41_574690958/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 569.0215851337693, + 872.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 571.6196613451227, + 874.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 574.2177375564761, + 875.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 576.8158137678295, + 877.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 579.4138899791828, + 878.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 582.0119661905362, + 880.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 584.6100424018896, + 881.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 587.208118613243, + 883.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 589.8061948245963, + 884.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 592.4042710359497, + 886.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 595.0023472473031, + 887.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.6004234586565, + 889.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 600.1984996700098, + 890.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 602.7965758813632, + 892.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 605.3946520927166, + 893.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 607.9927283040699, + 895.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 610.5908045154233, + 896.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 613.1888807267767, + 898.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 615.7869569381301, + 899.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 618.3850331494834, + 901.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 620.9831093608368, + 902.6910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 623.5811855721902, + 904.1910695484017, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 623.5811855721902, + 904.1910695484017, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 625.0811855721902, + 906.789145759755, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 626.5811855721902, + 909.3872219711084, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 628.0811855721902, + 911.9852981824617, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 629.5811855721902, + 914.5833743938151, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 631.0811855721902, + 917.1814506051685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 632.5811855721902, + 919.7795268165219, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-47-35_1217196008/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-47-35_1217196008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f317057fc898454bc8eafa7cbd0fa367c2e79fc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-47-35_1217196008/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 142.2099822623661, + 308.761714469848, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 143.7099822623661, + 306.1636382584947, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 145.2099822623661, + 303.5655620471414, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.7099822623661, + 300.96748583578807, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 148.2099822623661, + 298.36940962443475, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 149.7099822623661, + 295.77133341308144, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 151.2099822623661, + 293.1732572017281, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 152.7099822623661, + 290.5751809903748, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 154.2099822623661, + 287.9771047790215, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 155.7099822623661, + 285.3790285676682, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.2099822623661, + 282.78095235631486, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 158.7099822623661, + 280.18287614496154, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 160.2099822623661, + 277.5847999336082, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 161.7099822623661, + 274.9867237222549, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 163.2099822623661, + 272.3886475109016, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 164.7099822623661, + 269.7905712995483, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 166.2099822623661, + 267.19249508819496, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 167.7099822623661, + 264.59441887684164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 169.2099822623661, + 261.9963426654883, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 170.7099822623661, + 259.398266454135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 172.2099822623661, + 256.8001902427817, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 173.7099822623661, + 254.20211403142838, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 175.2099822623661, + 251.60403782007506, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 176.7099822623661, + 249.00596160872175, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 178.2099822623661, + 246.40788539736843, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 179.7099822623661, + 243.80980918601512, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 181.2099822623661, + 241.2117329746618, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 182.7099822623661, + 238.61365676330848, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 184.2099822623661, + 236.01558055195517, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 185.7099822623661, + 233.41750434060185, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 187.2099822623661, + 230.81942812924854, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 188.7099822623661, + 228.22135191789522, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 188.7099822623661, + 228.22135191789522, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 191.30805847371943, + 226.72135191789522, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-50-56_910450857/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-50-56_910450857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6b8b8e5881b7f898644f1229b36214657b3fd6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-50-56_910450857/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 943.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 940.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 937.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 934.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 931.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 928.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 925.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 922.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 919.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 916.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 913.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 913.5846622790733, + -1764.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 910.98658606772, + -1766.0788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 908.3885098563667, + -1767.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 905.7904336450133, + -1769.0788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 903.1923574336599, + -1770.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 900.5942812223066, + -1772.0788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 897.9962050109532, + -1773.5788769338055, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 895.3981287995998, + -1775.0788769338055, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-7-3_714481123/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-7-3_714481123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f9cef031cd7639dc685061cfcb5411470e5193f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-7-3_714481123/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1236.6099294509015, + 9.455995430459026, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1235.1099294509015, + 6.85791921910571, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1233.6099294509015, + 4.259843007752394, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1232.1099294509015, + 1.6617667963990783, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1230.6099294509015, + -0.9363094149542377, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1229.1099294509015, + -3.5343856263075537, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1227.6099294509015, + -6.13246183766087, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1226.1099294509015, + -8.730538049014186, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1224.6099294509015, + -11.328614260367502, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1223.1099294509015, + -13.926690471720818, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1221.6099294509015, + -16.524766683074134, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1220.1099294509015, + -19.12284289442745, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1218.6099294509015, + -21.720919105780766, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1217.1099294509015, + -24.318995317134082, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1215.6099294509015, + -26.917071528487398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1214.1099294509015, + -29.515147739840714, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1212.6099294509015, + -32.11322395119403, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1211.1099294509015, + -34.711300162547346, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1209.6099294509015, + -37.30937637390066, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1208.1099294509015, + -39.90745258525398, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1206.6099294509015, + -42.505528796607294, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1205.1099294509015, + -45.10360500796061, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1203.6099294509015, + -47.701681219313926, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1203.6099294509015, + -47.701681219313926, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1203.6099294509015, + -50.701681219313926, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1203.6099294509015, + -53.701681219313926, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1203.6099294509015, + -56.701681219313926, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1203.6099294509015, + -59.701681219313926, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1203.6099294509015, + -62.701681219313926, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 146.675 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-9-33_2123987799/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-9-33_2123987799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7780ee65dadd8281d262cafa6fc390c27d1bdf2c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-9-33_2123987799/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 111.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 123.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 126.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 132.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 132.34400935008972, + -101.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 134.94208556144304, + -103.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 137.54016177279635, + -104.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 140.13823798414967, + -106.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 142.73631419550298, + -107.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 145.3343904068563, + -109.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 147.93246661820962, + -110.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.53054282956293, + -112.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 153.12861904091625, + -113.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 155.72669525226956, + -115.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 158.32477146362288, + -116.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 160.9228476749762, + -118.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 163.5209238863295, + -119.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 166.11900009768283, + -121.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 168.71707630903614, + -122.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 171.31515252038946, + -124.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 173.91322873174278, + -125.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 176.5113049430961, + -127.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 179.1093811544494, + -128.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 181.70745736580272, + -130.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 184.30553357715604, + -131.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 186.90360978850936, + -133.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 189.50168599986267, + -134.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 192.099762211216, + -136.29373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 194.6978384225693, + -137.79373188205673, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 197.29591463392262, + -139.29373188205673, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 149.418 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-13-4_189409560/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-13-4_189409560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7ef967fa3715fafd6bfa2589f09a2c0ba1f06a2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-13-4_189409560/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -15.915176634889534, + 711.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.317100423536218, + 713.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -10.719024212182902, + 714.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -8.120948000829586, + 716.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -5.5228717894762696, + 717.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2.9247955781229535, + 719.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.32671936676963753, + 720.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.2713568445836785, + 722.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4.8694330559369945, + 723.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 7.4675092672903105, + 725.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.065585478643627, + 726.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 12.663661689996943, + 728.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 15.261737901350259, + 729.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 17.859814112703575, + 731.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 20.45789032405689, + 732.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.055966535410207, + 734.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 25.654042746763523, + 735.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.25211895811684, + 737.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.850195169470155, + 738.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 33.44827138082347, + 740.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 36.04634759217679, + 741.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 38.6444238035301, + 743.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.24250001488342, + 744.7173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 43.840576226236735, + 746.2173543283085, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 43.840576226236735, + 746.2173543283085, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 45.340576226236735, + 748.8154305396617, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 46.840576226236735, + 751.4135067510151, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 48.340576226236735, + 754.0115829623685, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 49.840576226236735, + 756.6096591737219, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 51.340576226236735, + 759.2077353850752, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 52.840576226236735, + 761.8058115964286, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 54.340576226236735, + 764.403887807782, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 55.840576226236735, + 767.0019640191354, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 57.340576226236735, + 769.6000402304887, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.840576226236735, + 772.1981164418421, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 60.340576226236735, + 774.7961926531955, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 61.840576226236735, + 777.3942688645488, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 63.340576226236735, + 779.9923450759022, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 63.340576226236735, + 779.9923450759022, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 65.93865243759005, + 781.4923450759022, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-2-29_45299067/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-2-29_45299067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02deb14423bc7d7db1e0699ecd4fc4161cde2482 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-2-29_45299067/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 639.3854374779921, + -1014.7939061248103, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 640.8854374779921, + -1017.3919823361637, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 642.3854374779921, + -1019.990058547517, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 643.8854374779921, + -1022.5881347588704, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 645.3854374779921, + -1025.1862109702238, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 646.8854374779921, + -1027.7842871815772, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 648.3854374779921, + -1030.3823633929305, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 649.8854374779921, + -1032.980439604284, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 651.3854374779921, + -1035.5785158156373, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 652.8854374779921, + -1038.1765920269906, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 654.3854374779921, + -1040.774668238344, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 655.8854374779921, + -1043.3727444496974, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 657.3854374779921, + -1045.9708206610508, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 658.8854374779921, + -1048.5688968724041, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 660.3854374779921, + -1051.1669730837575, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-25-57_1478326644/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-25-57_1478326644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7157e7c06ab4bf7e3de3827b7c092ec8f5d2959 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-25-57_1478326644/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -74.7868763124365, + -0.4843158631983897, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -76.2868763124365, + 2.1137603481549263, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -77.7868763124365, + 4.711836559508242, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -79.2868763124365, + 7.309912770861558, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -80.7868763124365, + 9.907988982214874, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -82.2868763124365, + 12.50606519356819, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -83.7868763124365, + 15.104141404921506, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -85.2868763124365, + 17.702217616274822, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -86.7868763124365, + 20.30029382762814, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -88.2868763124365, + 22.898370038981454, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.7868763124365, + 25.49644625033477, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -91.2868763124365, + 28.094522461688086, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -92.7868763124365, + 30.692598673041402, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -94.2868763124365, + 33.29067488439472, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -95.7868763124365, + 35.888751095748034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -97.2868763124365, + 38.48682730710135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -98.7868763124365, + 41.08490351845467, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -100.2868763124365, + 43.68297972980798, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.7868763124365, + 46.2810559411613, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -103.2868763124365, + 48.879132152514615, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -104.7868763124365, + 51.47720836386793, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -106.2868763124365, + 54.07528457522125, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -107.7868763124365, + 56.67336078657456, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -109.2868763124365, + 59.27143699792788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -110.7868763124365, + 61.869513209281195, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -112.2868763124365, + 64.46758942063451, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -113.7868763124365, + 67.06566563198783, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -115.2868763124365, + 69.66374184334114, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -116.7868763124365, + 72.26181805469446, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -118.2868763124365, + 74.85989426604777, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.7868763124365, + 77.45797047740109, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -119.7868763124365, + 77.45797047740109, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -119.7868763124365, + 80.45797047740109, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -119.7868763124365, + 83.45797047740109, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.7868763124365, + 86.45797047740109, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-26-44_96198530/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-26-44_96198530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92940c819e2207fa6bb8aac1e9657ae1a43366ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-26-44_96198530/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.72584132953801, + 34.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 72.1277651181847, + 35.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 69.52968890683138, + 37.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 66.93161269547807, + 38.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 64.33353648412475, + 40.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.735460272771434, + 41.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 59.13738406141812, + 43.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 56.5393078500648, + 44.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.941231638711486, + 46.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 51.34315542735817, + 47.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 48.745079216004854, + 49.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 46.14700300465154, + 50.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 43.54892679329822, + 52.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.950850581944906, + 53.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 38.35277437059159, + 55.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 35.754698159238274, + 56.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 33.15662194788496, + 58.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 30.55854573653164, + 59.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 27.960469525178326, + 61.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 25.36239331382501, + 62.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 22.764317102471693, + 64.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 20.166240891118377, + 65.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.56816467976506, + 67.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 14.970088468411745, + 68.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 12.37201225705843, + 70.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 9.773936045705113, + 71.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 7.175859834351797, + 73.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4.577783622998481, + 74.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1.9797074116451654, + 76.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -0.6183687997081506, + 77.63063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -3.2164450110614666, + 79.13063132285495, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -5.814521222414783, + 80.63063132285495, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -40.0, + 104.0, + 229.562 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-34_1417988751/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-34_1417988751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdaed910ff09f6d5946580c4e719a21d32eb4186 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-34_1417988751/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.215568052869, + 290.7190255777043, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.715568052869, + 288.120949366351, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 270.215568052869, + 285.5228731549977, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.715568052869, + 282.92479694364437, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 267.215568052869, + 280.32672073229105, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.715568052869, + 277.72864452093773, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 264.215568052869, + 275.1305683095844, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.715568052869, + 272.5324920982311, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.215568052869, + 269.9344158868778, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.715568052869, + 267.33633967552447, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 258.215568052869, + 264.73826346417115, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 256.715568052869, + 262.14018725281784, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 255.215568052869, + 259.5421110414645, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 253.715568052869, + 256.9440348301112, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.215568052869, + 254.3459586187579, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.715568052869, + 251.74788240740457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 249.215568052869, + 249.14980619605126, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.715568052869, + 246.55172998469794, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 246.215568052869, + 243.95365377334463, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.715568052869, + 241.3555775619913, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 244.715568052869, + 241.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 244.715568052869, + 238.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 244.715568052869, + 235.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 244.715568052869, + 232.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 244.715568052869, + 229.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 244.715568052869, + 226.3555775619913, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 244.715568052869, + 223.3555775619913, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-49-45_755594861/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-49-45_755594861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c8f574390ac6103897cb1c30dfdd5ec4d01975f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-49-45_755594861/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.11483855884319, + 725.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.712914770196505, + 727.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 14.310990981549821, + 728.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 16.909067192903137, + 730.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 19.507143404256453, + 731.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 22.10521961560977, + 733.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 24.703295826963085, + 734.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 27.3013720383164, + 736.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 29.899448249669717, + 737.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 32.49752446102303, + 739.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 35.09560067237635, + 740.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 37.693676883729665, + 742.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 40.29175309508298, + 743.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 42.8898293064363, + 745.3649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.48790551778961, + 746.8649638200776, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.48790551778961, + 746.8649638200776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 46.98790551778961, + 749.4630400314309, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 48.48790551778961, + 752.0611162427842, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 49.98790551778961, + 754.6591924541376, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 51.48790551778961, + 757.257268665491, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 52.98790551778961, + 759.8553448768444, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 54.48790551778961, + 762.4534210881977, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 55.98790551778961, + 765.0514972995511, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 57.48790551778961, + 767.6495735109045, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 58.98790551778961, + 770.2476497222578, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 60.48790551778961, + 772.8457259336112, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 61.98790551778961, + 775.4438021449646, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 63.48790551778961, + 778.041878356318, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 64.98790551778961, + 780.6399545676713, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-5-0_1573715235/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-5-0_1573715235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..940e0deb088505823d6fc987c9718856c4313868 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-5-0_1573715235/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 951.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 948.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 945.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 942.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 939.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 936.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 933.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 930.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 927.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 924.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 921.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 918.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 915.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 912.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 909.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 906.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 903.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 900.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 897.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 894.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 891.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 888.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 885.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 882.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 879.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 876.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 876.2542816634812, + -1547.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 873.6562054521278, + -1546.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 871.0581292407744, + -1544.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 868.460053029421, + -1543.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 865.8619768180677, + -1541.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 863.2639006067143, + -1540.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 860.6658243953609, + -1538.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 858.0677481840075, + -1537.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 855.4696719726542, + -1535.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 852.8715957613008, + -1534.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 850.2735195499474, + -1532.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 847.675443338594, + -1531.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 845.0773671272407, + -1529.6580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 842.4792909158873, + -1528.1580295617505, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 839.8812147045339, + -1526.6580295617505, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 816.0, + -1520.0, + 146.15 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-50-22_298125972/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-50-22_298125972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7ed815982124ace418af7d6adc4becc849618ae --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-50-22_298125972/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1094.1343960403842, + -141.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1096.7324722517376, + -139.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1099.330548463091, + -138.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1101.9286246744443, + -136.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1104.5267008857977, + -135.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1107.124777097151, + -133.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1109.7228533085045, + -132.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1112.3209295198578, + -130.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1114.9190057312112, + -129.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1117.5170819425646, + -127.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1120.115158153918, + -126.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1122.7132343652713, + -124.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1125.3113105766247, + -123.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1127.909386787978, + -121.5366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1130.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1130.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1133.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1136.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1139.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1142.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1142.5074629993314, + -120.0366008289283, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1145.1055392106848, + -118.5366008289283, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 146.675 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-10_601698078/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-10_601698078/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff0889fe58ef7a4bc33a302fbe5125c588159bc2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-10_601698078/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 924.7181520959174, + -294.60369758192223, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 926.2181520959174, + -292.0056213705689, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 927.7181520959174, + -289.4075451592156, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 929.2181520959174, + -286.8094689478623, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 930.7181520959174, + -284.21139273650897, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 932.2181520959174, + -281.61331652515565, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 933.7181520959174, + -279.01524031380234, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 935.2181520959174, + -276.417164102449, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 936.7181520959174, + -273.8190878910957, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 938.2181520959174, + -271.2210116797424, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 939.7181520959174, + -268.6229354683891, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 941.2181520959174, + -266.02485925703576, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 942.7181520959174, + -263.42678304568244, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 944.2181520959174, + -260.8287068343291, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.7181520959174, + -258.2306306229758, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 947.2181520959174, + -255.6325544116225, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 947.2181520959174, + -255.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 949.8162283072706, + -254.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 952.414304518624, + -252.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 955.0123807299774, + -251.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 957.6104569413308, + -249.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 960.2085331526841, + -248.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 962.8066093640375, + -246.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 965.4046855753909, + -245.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 968.0027617867443, + -243.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 970.6008379980976, + -242.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 973.198914209451, + -240.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 975.7969904208044, + -239.1325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 978.3950666321578, + -237.6325544116225, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 978.3950666321578, + -237.6325544116225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 979.8950666321578, + -235.03447820026918, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 981.3950666321578, + -232.43640198891586, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 156.346 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-31_1476967137/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-31_1476967137/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d47df103839dc45cfc0953c62b482126431842af --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-31_1476967137/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 304.53708195158043, + 276.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 301.9390057402271, + 274.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 299.3409295288738, + 273.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 296.7428533175205, + 271.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.14477710616717, + 270.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 291.54670089481385, + 268.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 288.94862468346054, + 267.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 286.3505484721072, + 265.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 283.7524722607539, + 264.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 281.1543960494006, + 262.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 278.5563198380473, + 261.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 275.95824362669396, + 259.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 273.36016741534064, + 258.0339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.7620912039873, + 256.5339336967788, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 268.164014992634, + 255.03393369677877, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 265.5659387812807, + 253.53393369677877, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.9678625699274, + 252.03393369677877, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 260.36978635857406, + 250.53393369677877, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 260.36978635857406, + 250.53393369677877, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.86978635857406, + 247.93585748542546, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 257.36978635857406, + 245.33778127407214, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.86978635857406, + 242.73970506271883, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 254.36978635857406, + 240.1416288513655, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 252.86978635857406, + 237.5435526400122, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 251.36978635857406, + 234.94547642865888, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 249.86978635857406, + 232.34740021730556, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 248.36978635857406, + 229.74932400595225, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 246.86978635857406, + 227.15124779459893, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 245.36978635857406, + 224.55317158324561, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-24_269365760/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-24_269365760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c9d8ddc52fdd91d56bae387c872381baeb194f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-24_269365760/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 203.23607946050183, + 330.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 203.23607946050183, + 327.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 203.23607946050183, + 324.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 203.23607946050183, + 321.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 203.23607946050183, + 318.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 203.23607946050183, + 315.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.23607946050183, + 312.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 203.23607946050183, + 309.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 203.23607946050183, + 306.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 203.23607946050183, + 303.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 203.23607946050183, + 300.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 203.23607946050183, + 297.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 203.23607946050183, + 294.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 203.23607946050183, + 291.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 203.23607946050183, + 288.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 203.23607946050183, + 285.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 203.23607946050183, + 282.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 203.23607946050183, + 279.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.23607946050183, + 276.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 203.23607946050183, + 273.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 203.23607946050183, + 270.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 203.23607946050183, + 267.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 203.23607946050183, + 264.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 203.23607946050183, + 261.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 203.23607946050183, + 258.7586843110457, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 203.23607946050183, + 255.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 203.23607946050183, + 252.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 203.23607946050183, + 249.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 203.23607946050183, + 246.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 203.23607946050183, + 243.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 203.23607946050183, + 240.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 203.23607946050183, + 237.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 203.23607946050183, + 234.75868431104573, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 203.23607946050183, + 234.75868431104573, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 201.73607946050183, + 232.1606080996924, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 200.23607946050183, + 229.5625318883391, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 198.73607946050183, + 226.96445567698578, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-28_1924200848/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-28_1924200848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e44aa6a09f4920aeceb127924ddc8eb5a31d426 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-28_1924200848/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 350.7342270722009, + -256.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 350.7342270722009, + -253.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 350.7342270722009, + -250.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 350.7342270722009, + -247.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 350.7342270722009, + -244.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 350.7342270722009, + -241.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 350.7342270722009, + -238.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.7342270722009, + -235.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 350.7342270722009, + -232.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 350.7342270722009, + -229.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 350.7342270722009, + -226.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.7342270722009, + -223.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 350.7342270722009, + -220.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.7342270722009, + -217.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.7342270722009, + -214.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 350.7342270722009, + -211.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.7342270722009, + -208.63508306369164, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 350.7342270722009, + -208.63508306369164, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.2342270722009, + -206.03700685233832, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 353.7342270722009, + -203.438930640985, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 355.2342270722009, + -200.8408544296317, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 356.7342270722009, + -198.24277821827837, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 358.2342270722009, + -195.64470200692506, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 359.7342270722009, + -193.04662579557174, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 361.2342270722009, + -190.44854958421843, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 362.7342270722009, + -187.8504733728651, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 364.2342270722009, + -185.2523971615118, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 365.7342270722009, + -182.65432095015848, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 367.2342270722009, + -180.05624473880516, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 376.0, + -152.0, + 151.354 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-47_1438296358/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-47_1438296358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faa749b74894396f82941a586bd08fafc6967dd2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-57-47_1438296358/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.19889422391225, + -213.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.79697043526556, + -211.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 277.3950466466189, + -210.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 279.9931228579722, + -208.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 282.5911990693255, + -207.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.1892752806788, + -205.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.78735149203214, + -204.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 290.38542770338546, + -202.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 292.9835039147388, + -201.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.5815801260921, + -199.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 298.1796563374454, + -198.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 300.7777325487987, + -196.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 303.37580876015204, + -195.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 305.97388497150536, + -193.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 308.5719611828587, + -192.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.170037394212, + -190.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 313.7681136055653, + -189.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 316.3661898169186, + -187.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 318.96426602827194, + -186.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 321.56234223962525, + -184.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 324.16041845097857, + -183.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.7584946623319, + -181.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 329.3565708736852, + -180.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.9546470850385, + -178.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.55272329639183, + -177.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 337.15079950774515, + -175.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 339.74887571909846, + -174.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 342.3469519304518, + -172.96868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 344.9450281418051, + -171.46868586626462, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 347.5431043531584, + -169.96868586626462, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 376.0, + -152.0, + 151.354 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-59-45_655154589/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-59-45_655154589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd0fe234885d05a07dab3c1a9c0daeee98510ee5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-59-45_655154589/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 543.8856454972101, + -46.560934968158776, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 545.3856454972101, + -43.96285875680546, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 546.8856454972101, + -41.364782545452144, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 548.3856454972101, + -38.76670633409883, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 549.8856454972101, + -36.16863012274551, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 551.3856454972101, + -33.570553911392196, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 552.8856454972101, + -30.97247770003888, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 554.3856454972101, + -28.374401488685564, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 555.8856454972101, + -25.776325277332248, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 557.3856454972101, + -23.17824906597893, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 558.8856454972101, + -20.580172854625616, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 560.3856454972101, + -17.9820966432723, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 561.8856454972101, + -15.384020431918984, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 563.3856454972101, + -12.785944220565668, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 564.8856454972101, + -10.187868009212352, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 566.3856454972101, + -7.589791797859036, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 566.3856454972101, + -7.589791797859036, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 566.3856454972101, + -4.589791797859036, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 566.3856454972101, + -1.5897917978590357, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 566.3856454972101, + 1.4102082021409643, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 566.3856454972101, + 4.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 566.3856454972101, + 7.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 566.3856454972101, + 10.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 566.3856454972101, + 13.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 566.3856454972101, + 16.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 566.3856454972101, + 19.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 566.3856454972101, + 22.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 566.3856454972101, + 25.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 566.3856454972101, + 28.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 566.3856454972101, + 31.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 566.3856454972101, + 34.410208202140964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 566.3856454972101, + 37.410208202140964, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-11-34_218248263/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-11-34_218248263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e14e17d3ed04d6d7e6ff740344cdaa01fcc11bca --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-11-34_218248263/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 849.8601657344067, + -1678.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 849.8601657344067, + -1681.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 849.8601657344067, + -1684.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 849.8601657344067, + -1687.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 849.8601657344067, + -1690.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 849.8601657344067, + -1693.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 849.8601657344067, + -1696.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 849.8601657344067, + -1699.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 849.8601657344067, + -1702.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 849.8601657344067, + -1705.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 849.8601657344067, + -1708.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 849.8601657344067, + -1711.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 849.8601657344067, + -1714.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 849.8601657344067, + -1717.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 849.8601657344067, + -1720.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 849.8601657344067, + -1723.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 849.8601657344067, + -1726.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 849.8601657344067, + -1729.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 849.8601657344067, + -1732.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 849.8601657344067, + -1735.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 849.8601657344067, + -1738.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.8601657344067, + -1741.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 849.8601657344067, + -1744.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 849.8601657344067, + -1747.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 849.8601657344067, + -1750.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 849.8601657344067, + -1753.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 849.8601657344067, + -1756.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 849.8601657344067, + -1759.4339183060802, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 849.8601657344067, + -1759.4339183060802, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 848.3601657344067, + -1762.0319945174335, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 846.8601657344067, + -1764.630070728787, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 845.3601657344067, + -1767.2281469401403, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 843.8601657344067, + -1769.8262231514937, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 842.3601657344067, + -1772.424299362847, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 840.8601657344067, + -1775.0223755742004, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-14-7_794452111/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-14-7_794452111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b717fdcd8df0292997132baf81b77a80d3d5d0bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-14-7_794452111/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 810.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 807.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 804.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 801.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 798.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 795.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 792.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 789.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 786.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 783.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 780.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 777.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 774.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 771.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 768.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 765.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 762.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 759.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 756.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 753.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 750.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 747.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 744.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 741.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 738.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 735.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 732.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 729.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 726.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 726.1370400954227, + -1117.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 723.5389638840693, + -1115.7987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 720.9408876727159, + -1114.2987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 718.3428114613625, + -1112.7987741407312, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 715.7447352500092, + -1111.2987741407312, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-22-24_158535326/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-22-24_158535326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35ad999fe5a1ef5e6aa76ba6ac41b2a2c3a904a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-22-24_158535326/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 100.28779165021042, + 504.9160314478035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.6897154388571, + 506.4160314478035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.09163922750379, + 507.9160314478035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.49356301615047, + 509.4160314478035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 89.89548680479716, + 510.9160314478035, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.29741059344384, + 512.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991511 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.69933438209053, + 513.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 82.10125817073721, + 515.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 79.5031819593839, + 516.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 76.90510574803058, + 518.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.30702953667726, + 519.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 71.70895332532395, + 521.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 69.11087711397063, + 522.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 66.51280090261731, + 524.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 63.914724691264, + 525.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.31664847991068, + 527.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.71857226855737, + 528.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.12049605720405, + 530.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.522419845850735, + 531.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 50.92434363449742, + 533.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.3262674231441, + 534.9160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 45.72819121179079, + 536.4160314478034, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 43.13011500043747, + 537.9160314478034, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-14_656184096/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-14_656184096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d81b51e747edd2f33c1fda79c77d761c03028b1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-14_656184096/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 290.47137745873533, + 90.22857658576669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.97137745873533, + 92.82665279712, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.47137745873533, + 95.42472900847332, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 285.97137745873533, + 98.02280521982664, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.47137745873533, + 100.62088143117995, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 282.97137745873533, + 103.21895764253327, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 281.47137745873533, + 105.81703385388658, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 279.97137745873533, + 108.4151100652399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 278.47137745873533, + 111.01318627659322, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 276.97137745873533, + 113.61126248794653, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 275.47137745873533, + 116.20933869929985, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 273.97137745873533, + 118.80741491065316, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 272.47137745873533, + 121.40549112200648, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.97137745873533, + 124.0035673333598, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 269.47137745873533, + 126.60164354471311, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 267.97137745873533, + 129.19971975606643, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 266.47137745873533, + 131.79779596741975, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 264.97137745873533, + 134.39587217877306, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 263.47137745873533, + 136.99394839012638, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 261.97137745873533, + 139.5920246014797, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 260.47137745873533, + 142.190100812833, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 258.97137745873533, + 144.78817702418633, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 257.47137745873533, + 147.38625323553964, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 255.97137745873533, + 149.98432944689296, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 255.97137745873533, + 149.98432944689296, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 253.37330124738202, + 151.48432944689296, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 250.7752250360287, + 152.98432944689296, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 248.17714882467538, + 154.48432944689296, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 245.57907261332207, + 155.98432944689296, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 242.98099640196875, + 157.48432944689296, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-50_1405097218/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-50_1405097218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f438f621d4389a3666fc1e5f47e18bb492438d07 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-24-50_1405097218/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 228.70366165482554, + 59.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 228.70366165482554, + 62.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 228.70366165482554, + 65.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 228.70366165482554, + 68.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 228.70366165482554, + 71.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 228.70366165482554, + 74.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 228.70366165482554, + 77.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 228.70366165482554, + 80.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 228.70366165482554, + 83.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 228.70366165482554, + 86.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 228.70366165482554, + 89.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 228.70366165482554, + 92.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 228.70366165482554, + 95.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 228.70366165482554, + 98.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 228.70366165482554, + 101.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 228.70366165482554, + 104.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 228.70366165482554, + 107.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 228.70366165482554, + 110.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 228.70366165482554, + 113.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 228.70366165482554, + 116.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 228.70366165482554, + 119.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 228.70366165482554, + 122.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 228.70366165482554, + 125.40443920898484, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 228.70366165482554, + 128.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 228.70366165482554, + 131.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 228.70366165482554, + 134.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 228.70366165482554, + 137.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 228.70366165482554, + 140.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 228.70366165482554, + 143.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 228.70366165482554, + 146.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 228.70366165482554, + 149.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 228.70366165482554, + 152.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 228.70366165482554, + 155.40443920898485, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 228.70366165482554, + 158.40443920898485, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-26-31_988992210/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-26-31_988992210/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac4ed0e4519e0c9798e31fb51c8272a8e1b60ddf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-26-31_988992210/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 319.7824766231828, + 177.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 317.1844004118295, + 179.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 314.58632420047616, + 180.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.98824798912284, + 182.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.3901717777695, + 183.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 306.7920955664162, + 185.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 304.1940193550629, + 186.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 301.5959431437096, + 188.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 298.99786693235626, + 189.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 296.39979072100294, + 191.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.8017145096496, + 192.75294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 291.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 288.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 279.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 276.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 273.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 270.2036382982963, + 194.25294906583687, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-48_1718500113/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-48_1718500113/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10146b71169d9a9d8a01f78065d1098b385842b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-48_1718500113/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 425.2372716591225, + 1032.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 425.2372716591225, + 1029.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 425.2372716591225, + 1026.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 425.2372716591225, + 1023.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 425.2372716591225, + 1020.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 425.2372716591225, + 1017.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 425.2372716591225, + 1014.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 425.2372716591225, + 1011.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 425.2372716591225, + 1008.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 425.2372716591225, + 1005.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.2372716591225, + 1002.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.2372716591225, + 999.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 425.2372716591225, + 996.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 425.2372716591225, + 993.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 425.2372716591225, + 990.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 425.2372716591225, + 987.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 425.2372716591225, + 984.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 425.2372716591225, + 981.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 425.2372716591225, + 978.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 425.2372716591225, + 975.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.2372716591225, + 972.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.2372716591225, + 969.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 425.2372716591225, + 966.5886145983736, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 425.2372716591225, + 966.5886145983736, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 426.7372716591225, + 963.9905383870203, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 428.2372716591225, + 961.3924621756669, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 429.7372716591225, + 958.7943859643135, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 431.2372716591225, + 956.1963097529601, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 432.7372716591225, + 953.5982335416068, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 434.2372716591225, + 951.0001573302534, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 435.7372716591225, + 948.4020811189, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 437.2372716591225, + 945.8040049075466, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 438.7372716591225, + 943.2059286961933, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 440.2372716591225, + 940.6078524848399, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 441.7372716591225, + 938.0097762734865, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 443.2372716591225, + 935.4117000621331, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 444.7372716591225, + 932.8136238507798, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 446.2372716591225, + 930.2155476394264, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 447.7372716591225, + 927.617471428073, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 449.2372716591225, + 925.0193952167197, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-5-29_365547042/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-5-29_365547042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d70326a54172d8410069596b34c90aa70fe2b5f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-5-29_365547042/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1093.64315204383, + 0.6069577012377465, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1095.14315204383, + -1.9911185101155695, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1096.64315204383, + -4.5891947214688855, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1098.14315204383, + -7.1872709328222015, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1099.64315204383, + -9.785347144175518, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1101.14315204383, + -12.383423355528834, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1102.64315204383, + -14.98149956688215, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1104.14315204383, + -17.579575778235466, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1105.64315204383, + -20.17765198958878, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1107.14315204383, + -22.775728200942098, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1108.64315204383, + -25.373804412295414, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1110.14315204383, + -27.97188062364873, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1111.64315204383, + -30.569956835002046, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1113.14315204383, + -33.16803304635536, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1114.64315204383, + -35.76610925770868, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1116.14315204383, + -38.364185469061994, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1117.64315204383, + -40.96226168041531, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1119.14315204383, + -43.560337891768626, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1120.64315204383, + -46.15841410312194, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1122.14315204383, + -48.75649031447526, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1122.14315204383, + -48.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1124.7412282551834, + -50.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1127.3393044665368, + -51.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1129.9373806778901, + -53.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1132.5354568892435, + -54.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1135.1335331005969, + -56.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1137.7316093119503, + -57.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1140.3296855233036, + -59.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1142.927761734657, + -60.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1145.5258379460104, + -62.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1148.1239141573637, + -63.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1150.7219903687171, + -65.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1153.3200665800705, + -66.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1155.9181427914239, + -68.25649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1158.5162190027772, + -69.75649031447526, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1161.1142952141306, + -71.25649031447526, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 146.675 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-50-35_849580744/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-50-35_849580744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32c299b451d17d6d1a25286ab7aaa6473d3d0f7c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-50-35_849580744/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 546.2678063603596, + 1025.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 548.865882571713, + 1024.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 551.4639587830663, + 1022.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 554.0620349944197, + 1021.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 556.6601112057731, + 1019.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 559.2581874171265, + 1018.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 561.8562636284798, + 1016.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 564.4543398398332, + 1015.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 567.0524160511866, + 1013.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 569.65049226254, + 1012.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 572.2485684738933, + 1010.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 574.8466446852467, + 1009.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 577.4447208966001, + 1007.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 580.0427971079534, + 1006.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 582.6408733193068, + 1004.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 585.2389495306602, + 1003.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 587.8370257420136, + 1001.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 590.4351019533669, + 1000.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 593.0331781647203, + 998.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 595.6312543760737, + 997.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 598.2293305874271, + 995.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 600.8274067987804, + 994.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 603.4254830101338, + 992.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 606.0235592214872, + 991.0982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 608.6216354328405, + 989.5982517924742, + 156.84788500608087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 608.6216354328405, + 989.5982517924742, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 610.1216354328405, + 987.0001755811209, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 611.6216354328405, + 984.4020993697675, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 613.1216354328405, + 981.8040231584141, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 614.6216354328405, + 979.2059469470607, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 616.1216354328405, + 976.6078707357074, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 617.6216354328405, + 974.009794524354, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 619.1216354328405, + 971.4117183130006, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 620.6216354328405, + 968.8136421016472, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 622.1216354328405, + 966.2155658902939, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 623.6216354328405, + 963.6174896789405, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 625.1216354328405, + 961.0194134675871, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-6-47_906183458/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-6-47_906183458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e34ae2e127ee5a1ae44845c19e371905ea7ef139 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-6-47_906183458/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 683.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 686.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 689.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 692.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 695.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 698.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 701.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 704.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 707.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 710.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 713.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 716.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 719.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 722.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 725.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 728.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 731.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 734.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 737.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 740.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 743.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 746.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 749.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 752.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 755.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 758.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 761.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 764.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 764.1910025293473, + -1584.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 766.7890787407007, + -1583.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 769.3871549520541, + -1581.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 771.9852311634074, + -1580.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 774.5833073747608, + -1578.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 777.1813835861142, + -1577.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 779.7794597974676, + -1575.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 782.3775360088209, + -1574.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 784.9756122201743, + -1572.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 787.5736884315277, + -1571.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 790.171764642881, + -1569.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 792.7698408542344, + -1568.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 795.3679170655878, + -1566.7657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 797.9659932769412, + -1565.2657616453741, + 156.84788500608087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 800.5640694882945, + -1563.7657616453741, + 156.84788500608087 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}