diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-43-42_904370/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-43-42_904370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19622d828cb6658d3f7de2d87e13c51beeab51da --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-43-42_904370/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1335.6206633423396, + 779.3426806452122, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1333.0225871309863, + 780.8426806452122, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1330.424510919633, + 782.3426806452122, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1330.424510919633, + 782.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1327.8264347082795, + 783.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1325.2283584969261, + 785.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1322.6302822855728, + 786.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1320.0322060742194, + 788.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1317.434129862866, + 789.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1314.8360536515127, + 791.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1312.2379774401593, + 792.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1309.639901228806, + 794.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1307.0418250174525, + 795.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1304.4437488060992, + 797.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1301.8456725947458, + 798.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1299.2475963833924, + 800.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1296.649520172039, + 801.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1294.0514439606857, + 803.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1291.4533677493323, + 804.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1288.855291537979, + 806.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1286.2572153266256, + 807.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1283.6591391152722, + 809.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1281.0610629039188, + 810.8426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1278.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1278.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1275.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1272.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1269.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1266.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1263.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1260.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1257.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1254.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1251.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1248.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1245.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1242.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1239.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1236.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1233.4629866925654, + 812.3426806452122, + -23.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-45-49_983334/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-45-49_983334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b17219a140c8853f281e9217434efebfb3410a5f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-45-49_983334/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1960.816279738398, + 433.89233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1958.2182035270446, + 432.39233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1955.6201273156912, + 430.89233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1953.0220511043378, + 429.39233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1950.4239748929845, + 427.89233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1947.825898681631, + 426.39233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1945.2278224702777, + 424.89233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1942.6297462589243, + 423.39233537489446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1940.031670047571, + 421.89233537489446, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1940.031670047571, + 421.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1937.4335938362176, + 420.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1934.8355176248642, + 418.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1932.2374414135109, + 417.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1929.6393652021575, + 415.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1927.041288990804, + 414.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1924.4432127794507, + 412.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1921.8451365680974, + 411.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1919.247060356744, + 409.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1916.6489841453906, + 408.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1914.0509079340372, + 406.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1911.4528317226839, + 405.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1908.8547555113305, + 403.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1906.2566792999771, + 402.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1903.6586030886237, + 400.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1901.0605268772704, + 399.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1898.462450665917, + 397.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1895.8643744545636, + 396.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1893.2662982432103, + 394.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1890.6682220318569, + 393.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1888.0701458205035, + 391.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1885.4720696091501, + 390.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1882.8739933977968, + 388.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1880.2759171864434, + 387.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1877.67784097509, + 385.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1875.0797647637366, + 384.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1872.4816885523833, + 382.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1869.88361234103, + 381.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1867.2855361296765, + 379.89233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1864.6874599183232, + 378.39233537489446, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1862.0893837069698, + 376.89233537489446, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1862.0893837069698, + 376.89233537489446, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1836.0, + 364.0, + -29.1778 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-17_446041/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-17_446041/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18376e740d5a58bb7b7ad9b7e826c87dd3755501 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-17_446041/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -86.01886926037642, + -106.89040279123026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -84.51886926037642, + -109.48847900258357, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -83.01886926037642, + -112.08655521393689, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -81.51886926037642, + -114.6846314252902, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -80.01886926037642, + -117.28270763664352, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -78.51886926037642, + -119.88078384799684, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -77.01886926037642, + -122.47886005935015, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -75.51886926037642, + -125.07693627070347, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -74.01886926037642, + -127.67501248205679, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -72.51886926037642, + -130.2730886934101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -71.01886926037642, + -132.87116490476342, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -71.01886926037642, + -132.87116490476342, + -23.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -71.01886926037642, + -132.87116490476342, + -20.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -71.01886926037642, + -132.87116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -68.4207930490231, + -134.37116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -65.82271683766979, + -135.87116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -63.22464062631647, + -137.37116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -60.626564414963156, + -138.87116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.02848820360984, + -140.37116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -55.43041199225652, + -141.87116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -52.83233578090321, + -143.37116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -50.23425956954989, + -144.87116490476342, + -20.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -50.23425956954989, + -144.87116490476342, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -48.73425956954989, + -147.46924111611673, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -47.23425956954989, + -150.06731732747005, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -45.73425956954989, + -152.66539353882337, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -44.23425956954989, + -155.26346975017668, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -42.73425956954989, + -157.86154596153, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -41.23425956954989, + -160.45962217288331, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.73425956954989, + -163.05769838423663, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -38.23425956954989, + -165.65577459558995, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -36.73425956954989, + -168.25385080694326, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -35.23425956954989, + -170.85192701829658, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -33.73425956954989, + -173.4500032296499, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -32.23425956954989, + -176.0480794410032, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -30.73425956954989, + -178.64615565235653, + -20.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -30.73425956954989, + -178.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -30.73425956954989, + -181.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -30.73425956954989, + -184.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -30.73425956954989, + -187.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -30.73425956954989, + -190.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -30.73425956954989, + -193.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -30.73425956954989, + -196.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -30.73425956954989, + -199.64615565235653, + -20.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -30.73425956954989, + -202.64615565235653, + -20.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -30.73425956954989, + -202.64615565235653, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -30.73425956954989, + -202.64615565235653, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -30.73425956954989, + -202.64615565235653, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -29.23425956954989, + -205.24423186370984, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -224.0, + -27.925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-57_285045/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-57_285045/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92e0e222734d62f147cce415c681507b0994d7ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-47-57_285045/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 523.6434804803397, + 588.0899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 521.0454042689864, + 586.5899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 518.4473280576331, + 585.0899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 515.8492518462797, + 583.5899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 513.2511756349263, + 582.0899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 510.653099423573, + 580.5899216902621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 508.0550232122197, + 579.0899216902621, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 508.0550232122197, + 579.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 505.45694700086636, + 577.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 502.85887078951305, + 576.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 500.26079457815973, + 574.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.6627183668064, + 573.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 495.0646421554531, + 571.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.4665659440998, + 570.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 489.86848973274647, + 568.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.27041352139315, + 567.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.67233731003984, + 565.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 482.0742610986865, + 564.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 479.4761848873332, + 562.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 476.8781086759799, + 561.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.2800324646266, + 559.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 471.68195625327326, + 558.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 469.08388004191994, + 556.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.4858038305666, + 555.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 463.8877276192133, + 553.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 461.28965140786, + 552.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.6915751965067, + 550.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 456.09349898515336, + 549.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 453.49542277380004, + 547.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 450.8973465624467, + 546.0899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 448.2992703510934, + 544.5899216902621, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 448.2992703510934, + 544.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.2992703510934, + 544.5899216902621, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 442.2992703510934, + 544.5899216902621, + -23.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 412.0, + 528.0, + -30.1344 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-05-09_450639/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-05-09_450639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93c4ae82442ae3ae0d64c279a399737d9dcfe84d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-05-09_450639/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1877.3043349964091, + 112.14769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1879.9024112077625, + 113.64769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1882.5004874191159, + 115.14769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1885.0985636304692, + 116.64769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1887.6966398418226, + 118.14769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1890.294716053176, + 119.64769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1892.8927922645294, + 121.14769933577026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1895.4908684758827, + 122.64769933577026, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1895.4908684758827, + 122.64769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1898.088944687236, + 124.14769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1900.6870208985895, + 125.64769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1903.2850971099429, + 127.14769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1905.8831733212962, + 128.64769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1908.4812495326496, + 130.14769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1911.079325744003, + 131.64769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1913.6774019553563, + 133.14769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1916.2754781667097, + 134.64769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1918.873554378063, + 136.14769933577026, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1918.873554378063, + 136.14769933577026, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1920.373554378063, + 138.74577554712357, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1921.873554378063, + 141.3438517584769, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1923.373554378063, + 143.9419279698302, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1924.873554378063, + 146.54000418118352, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1926.373554378063, + 149.13808039253684, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1927.873554378063, + 151.73615660389015, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1929.373554378063, + 154.33423281524347, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1930.873554378063, + 156.93230902659678, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1932.373554378063, + 159.5303852379501, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1933.873554378063, + 162.12846144930342, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1935.373554378063, + 164.72653766065673, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1936.873554378063, + 167.32461387201005, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1936.873554378063, + 167.32461387201005, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1960.0, + 188.0, + -8.00906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-08-50_710734/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-08-50_710734/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..231b4c277d009b5ee2df4950ef281448a6c1dc9e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-08-50_710734/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1113.3948249414304, + -7.530864877412867, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1111.8948249414304, + -4.932788666059551, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1110.3948249414304, + -2.334712454706235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1108.8948249414304, + 0.263363756647081, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1107.3948249414304, + 2.861439968000397, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1105.8948249414304, + 5.459516179353713, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1104.3948249414304, + 8.057592390707029, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1102.8948249414304, + 10.655668602060345, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1102.8948249414304, + 10.655668602060345, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1101.3948249414304, + 13.253744813413661, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1099.8948249414304, + 15.851821024766977, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1098.3948249414304, + 18.449897236120293, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1096.8948249414304, + 21.04797344747361, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1095.3948249414304, + 23.646049658826925, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1093.8948249414304, + 26.24412587018024, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1092.3948249414304, + 28.842202081533557, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1090.8948249414304, + 31.440278292886873, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1089.3948249414304, + 34.03835450424019, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1087.8948249414304, + 36.636430715593505, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1086.3948249414304, + 39.23450692694682, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1084.8948249414304, + 41.83258313830014, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1083.3948249414304, + 44.43065934965345, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1081.8948249414304, + 47.02873556100677, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1081.8948249414304, + 47.02873556100677, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1079.296748730077, + 48.52873556100677, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1076.6986725187237, + 50.02873556100677, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1076.6986725187237, + 50.02873556100677, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 84.0, + -33.4368 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-10-41_533353/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-10-41_533353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b4dc80bcb6d534588c3a6d5de91a2b67233c8e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-10-41_533353/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 775.3572984049284, + 700.7577292386277, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 775.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 778.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 781.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 784.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 787.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 790.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 793.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 793.3572984049284, + 700.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 795.9553746162817, + 699.2577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 798.5534508276351, + 697.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 801.1515270389884, + 696.2577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 803.7496032503418, + 694.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 806.3476794616952, + 693.2577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 808.9457556730486, + 691.7577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 811.5438318844019, + 690.2577292386277, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 811.5438318844019, + 690.2577292386277, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 813.0438318844019, + 687.6596530272743, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 813.0438318844019, + 687.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 815.6419080957553, + 686.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 818.2399843071087, + 684.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 820.838060518462, + 683.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 823.4361367298154, + 681.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 826.0342129411688, + 680.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 828.6322891525222, + 678.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 831.2303653638755, + 677.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 833.8284415752289, + 675.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 836.4265177865823, + 674.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 839.0245939979357, + 672.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 841.622670209289, + 671.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 844.2207464206424, + 669.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 846.8188226319958, + 668.1596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 849.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 849.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 852.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 855.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 858.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 861.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 864.4168988433491, + 666.6596530272743, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 864.4168988433491, + 666.6596530272743, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 660.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-20-55_532069/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-20-55_532069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01f56d81e19f27a2aee08250f6b7f44f121dd728 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-20-55_532069/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1006.4474874493678, + -17.93075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1003.8494112380145, + -16.43075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1001.2513350266611, + -14.93075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 998.6532588153077, + -13.43075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.0551826039543, + -11.93075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 993.457106392601, + -10.43075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 990.8590301812476, + -8.93075520488349, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 988.2609539698942, + -7.430755204883489, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 985.6628777585408, + -5.930755204883489, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 983.0648015471875, + -4.430755204883489, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 980.4667253358341, + -2.9307552048834893, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 977.8686491244807, + -1.4307552048834895, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 975.2705729131274, + 0.06924479511651027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 972.672496701774, + 1.56924479511651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 970.0744204904206, + 3.06924479511651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 967.4763442790672, + 4.56924479511651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 964.8782680677139, + 6.06924479511651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 962.2801918563605, + 7.56924479511651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 959.6821156450071, + 9.069244795116509, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 959.6821156450071, + 9.069244795116509, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589803 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 956.6821156450071, + 9.069244795116509, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 953.6821156450071, + 9.069244795116509, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 950.6821156450071, + 9.069244795116509, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 950.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 947.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 944.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 941.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 938.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 935.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 932.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 929.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 926.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 923.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 920.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 917.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 914.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 914.6821156450071, + 9.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 912.0840394336537, + 7.569244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 909.4859632223004, + 6.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 906.887887010947, + 4.569244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 904.2898107995936, + 3.069244795116509, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 901.6917345882403, + 1.5692447951165092, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 899.0936583768869, + 0.06924479511650938, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 899.0936583768869, + 0.06924479511650938, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + 4.0, + -27.3656 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-22-33_486777/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-22-33_486777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97942ac345622b9287d22f9207f01e56648a6f10 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-22-33_486777/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 641.4337481729772, + 659.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 644.0318243843305, + 660.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 646.6299005956839, + 662.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 649.2279768070373, + 663.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 651.8260530183907, + 665.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 654.424129229744, + 666.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 657.0222054410974, + 668.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 659.6202816524508, + 669.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 662.2183578638042, + 671.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 664.8164340751575, + 672.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 667.4145102865109, + 674.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 670.0125864978643, + 675.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 672.6106627092176, + 677.2229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 675.208738920571, + 678.7229518484044, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 675.208738920571, + 678.7229518484044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 676.708738920571, + 681.3210280597577, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 678.208738920571, + 683.9191042711111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 679.708738920571, + 686.5171804824645, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 681.208738920571, + 689.1152566938179, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 681.208738920571, + 689.1152566938179, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 681.208738920571, + 689.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 683.8068151319244, + 690.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 686.4048913432778, + 692.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 689.0029675546311, + 693.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 691.6010437659845, + 695.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 694.1991199773379, + 696.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 696.7971961886913, + 698.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 699.3952724000446, + 699.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 701.993348611398, + 701.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 704.5914248227514, + 702.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 707.1895010341048, + 704.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 709.7875772454581, + 705.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 712.3856534568115, + 707.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 714.9837296681649, + 708.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 717.5818058795182, + 710.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 720.1798820908716, + 711.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 722.777958302225, + 713.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 725.3760345135784, + 714.6152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 727.9741107249317, + 716.1152566938179, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 730.5721869362851, + 717.6152566938179, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 730.5721869362851, + 717.6152566938179, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 752.0, + 728.0, + -30.3064 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-35-37_486700/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-35-37_486700/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a87ab86c7f3193e5f4d74a67c5ea88ca4c84977 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-35-37_486700/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1831.4335379182373, + 264.0739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1828.4335379182373, + 264.0739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1825.4335379182373, + 264.0739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1822.4335379182373, + 264.0739357883587, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1822.4335379182373, + 264.0739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1819.835461706884, + 262.5739357883587, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1819.835461706884, + 262.5739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1816.835461706884, + 262.5739357883587, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1813.835461706884, + 262.5739357883587, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1813.835461706884, + 262.5739357883587, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1810.835461706884, + 262.5739357883587, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1810.835461706884, + 262.5739357883587, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1810.835461706884, + 262.5739357883587, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1809.335461706884, + 265.172011999712, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1807.835461706884, + 267.77008821106534, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1806.335461706884, + 270.36816442241866, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1804.835461706884, + 272.966240633772, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1803.335461706884, + 275.5643168451253, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1801.835461706884, + 278.1623930564786, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1800.335461706884, + 280.7604692678319, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1798.835461706884, + 283.35854547918524, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1797.335461706884, + 285.95662169053855, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1795.835461706884, + 288.55469790189187, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1794.335461706884, + 291.1527741132452, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1792.835461706884, + 293.7508503245985, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1792.835461706884, + 293.7508503245985, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1792.835461706884, + 296.7508503245985, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1792.835461706884, + 299.7508503245985, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1792.835461706884, + 302.7508503245985, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1792.835461706884, + 305.7508503245985, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1792.835461706884, + 308.7508503245985, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1792.835461706884, + 308.7508503245985, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1760.0, + 352.0, + -8.07619 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-40-01_523211/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-40-01_523211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1731de3257c16a706691c959239019bd7b5311d9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-40-01_523211/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 864.9360559659837, + 1189.9701249319908, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 864.9360559659837, + 1189.9701249319908, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 864.9360559659837, + 1189.9701249319908, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 864.9360559659837, + 1189.9701249319908, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 866.4360559659837, + 1187.3720487206374, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 867.9360559659837, + 1184.773972509284, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 869.4360559659837, + 1182.1758962979306, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 870.9360559659837, + 1179.5778200865773, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 872.4360559659837, + 1176.979743875224, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 873.9360559659837, + 1174.3816676638705, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 875.4360559659837, + 1171.7835914525172, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 876.9360559659837, + 1169.1855152411638, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 878.4360559659837, + 1166.5874390298104, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 879.9360559659837, + 1163.989362818457, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 881.4360559659837, + 1161.3912866071037, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 882.9360559659837, + 1158.7932103957503, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 884.4360559659837, + 1156.195134184397, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 885.9360559659837, + 1153.5970579730435, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 885.9360559659837, + 1153.5970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 888.5341321773369, + 1152.0970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 891.1322083886903, + 1150.5970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 893.7302846000437, + 1149.0970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 896.328360811397, + 1147.5970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 898.9264370227504, + 1146.0970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 901.5245132341038, + 1144.5970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 904.1225894454572, + 1143.0970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 906.7206656568105, + 1141.5970579730435, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 906.7206656568105, + 1141.5970579730435, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 908.2206656568105, + 1138.9989817616902, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 909.7206656568105, + 1136.4009055503368, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 909.7206656568105, + 1136.4009055503368, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 1100.0, + 0.524277 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-05-58_109098/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-05-58_109098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..934de602d3663d394df758528c7751970e8ad08a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-05-58_109098/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1615.555430121138, + 769.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1612.9573539097846, + 768.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1610.3592776984312, + 766.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1607.7612014870779, + 765.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1605.1631252757245, + 763.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1602.5650490643711, + 762.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1599.9669728530178, + 760.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1597.3688966416644, + 759.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1594.770820430311, + 757.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1592.1727442189576, + 756.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1589.5746680076043, + 754.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1586.976591796251, + 753.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1584.3785155848975, + 751.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1581.7804393735441, + 750.4717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1579.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1579.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1576.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1573.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1570.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1567.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1564.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1561.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1558.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -23.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -20.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -17.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -14.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -11.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -8.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -5.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + -2.8889585109846543 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1555.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1552.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1549.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1546.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1543.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1543.1823631621908, + 748.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1540.5842869508374, + 747.4717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1537.986210739484, + 745.9717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1535.3881345281306, + 744.4717620663582, + 0.11104148901534572 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + 0.11104148901534572 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -2.8889585109846543 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -5.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -8.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -11.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -14.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -17.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -20.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1532.7900583167773, + 742.9717620663582, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1531.2900583167773, + 740.3736858550049, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1529.7900583167773, + 737.7756096436515, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1529.7900583167773, + 737.7756096436515, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1527.191982105424, + 736.2756096436515, + -23.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-50-17_854480/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-50-17_854480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eb3605be06d0a2bc17c7a507510526bbf4d051d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-50-17_854480/pose.jsonl @@ -0,0 +1,1211 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 909.6655286683712, + 442.76898947553696, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 911.1655286683712, + 440.17091326418364, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 912.6655286683712, + 437.5728370528303, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 914.1655286683712, + 434.974760841477, + -26.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 914.1655286683712, + 434.974760841477, + -29.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 914.1655286683712, + 434.974760841477, + -32.88895851098465 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 914.1655286683712, + 434.974760841477, + -35.88895851098465 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 914.1655286683712, + 434.974760841477, + -35.88895851098465 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 914.1655286683712, + 434.974760841477, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 912.6655286683712, + 432.3766846301237, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 911.1655286683712, + 429.7786084187704, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 911.1655286683712, + 429.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 911.1655286683712, + 426.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 911.1655286683712, + 423.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 911.1655286683712, + 420.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 911.1655286683712, + 417.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 911.1655286683712, + 414.7786084187704, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 911.1655286683712, + 414.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 912.6655286683712, + 412.18053220741706, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 914.1655286683712, + 409.58245599606374, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 915.6655286683712, + 406.9843797847104, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 917.1655286683712, + 404.3863035733571, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 918.6655286683712, + 401.7882273620038, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 920.1655286683712, + 399.1901511506505, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 921.6655286683712, + 396.59207493929716, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 923.1655286683712, + 393.99399872794385, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 924.6655286683712, + 391.39592251659053, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 926.1655286683712, + 388.7978463052372, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 927.6655286683712, + 386.1997700938839, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 929.1655286683712, + 383.6016938825306, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 930.6655286683712, + 381.00361767117727, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 932.1655286683712, + 378.40554145982395, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 932.1655286683712, + 378.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 934.7636048797244, + 376.90554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 937.3616810910778, + 375.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 939.9597573024312, + 373.90554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 942.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 942.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 945.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 948.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 951.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 954.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 957.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 957.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 957.5578335137845, + 372.40554145982395, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 959.0578335137845, + 375.00361767117727, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 960.5578335137845, + 377.6016938825306, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 962.0578335137845, + 380.1997700938839, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 963.5578335137845, + 382.7978463052372, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 965.0578335137845, + 385.39592251659053, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 966.5578335137845, + 387.99399872794385, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 968.0578335137845, + 390.59207493929716, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 969.5578335137845, + 393.1901511506505, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 971.0578335137845, + 395.7882273620038, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 972.5578335137845, + 398.3863035733571, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 974.0578335137845, + 400.9843797847104, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 975.5578335137845, + 403.58245599606374, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 977.0578335137845, + 406.18053220741706, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 978.5578335137845, + 408.7786084187704, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 980.0578335137845, + 411.3766846301237, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 981.5578335137845, + 413.974760841477, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 983.0578335137845, + 416.5728370528303, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 984.5578335137845, + 419.17091326418364, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 986.0578335137845, + 421.76898947553696, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 987.5578335137845, + 424.36706568689027, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 989.0578335137845, + 426.9651418982436, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 990.5578335137845, + 429.5632181095969, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 992.0578335137845, + 432.1612943209502, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 993.5578335137845, + 434.75937053230354, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 995.0578335137845, + 437.35744674365685, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 996.5578335137845, + 439.95552295501017, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 998.0578335137845, + 442.5535991663635, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 999.5578335137845, + 445.1516753777168, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1001.0578335137845, + 447.7497515890701, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1002.5578335137845, + 450.34782780042343, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1004.0578335137845, + 452.94590401177675, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1005.5578335137845, + 455.54398022313006, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1007.0578335137845, + 458.1420564344834, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1008.5578335137845, + 460.7401326458367, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1010.0578335137845, + 463.33820885719, + -35.88895851098465 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1010.0578335137845, + 463.33820885719, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1012.6559097251379, + 464.83820885719, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1015.2539859364913, + 466.33820885719, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1017.8520621478447, + 467.83820885719, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 84, + "pos": [ + 1020.450138359198, + 469.33820885719, + -35.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 85, + "pos": [ + 1023.0482145705514, + 470.83820885719, + -35.88895851098465 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 86, + "pos": [ + 1023.0482145705514, + 470.83820885719, + -32.88895851098465 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 87, + "pos": [ + 1023.0482145705514, + 470.83820885719, + -29.88895851098465 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 88, + "pos": [ + 1023.0482145705514, + 470.83820885719, + -29.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 89, + "pos": [ + 1026.0482145705514, + 470.83820885719, + -29.88895851098465 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 90, + "pos": [ + 1029.0482145705514, + 470.83820885719, + -29.88895851098465 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 91, + "pos": [ + 1029.0482145705514, + 470.83820885719, + -26.88895851098465 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 476.0, + -9.69104 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-00-58_221557/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-00-58_221557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53b9453bab1104310f0bcdac0ea0ae9959e099ea --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-00-58_221557/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1178.93726764205, + -323.2771887638944, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1177.43726764205, + -320.6791125525411, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1175.93726764205, + -318.08103634118777, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1174.43726764205, + -315.48296012983445, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1172.93726764205, + -312.88488391848114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1171.43726764205, + -310.2868077071278, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1169.93726764205, + -307.6887314957745, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1168.43726764205, + -305.0906552844212, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1166.93726764205, + -302.4925790730679, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1165.43726764205, + -299.89450286171456, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1163.93726764205, + -297.29642665036124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1162.43726764205, + -294.6983504390079, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1162.43726764205, + -294.6983504390079, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1160.93726764205, + -292.1002742276546, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1159.43726764205, + -289.5021980163013, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1159.43726764205, + -289.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1159.43726764205, + -286.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1159.43726764205, + -283.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1159.43726764205, + -280.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1159.43726764205, + -277.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1159.43726764205, + -274.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1159.43726764205, + -271.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1159.43726764205, + -268.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1159.43726764205, + -265.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1159.43726764205, + -262.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1159.43726764205, + -259.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1159.43726764205, + -256.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1159.43726764205, + -253.5021980163013, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1159.43726764205, + -253.5021980163013, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1159.43726764205, + -253.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1156.8391914306967, + -252.0021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1154.2411152193433, + -250.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1151.64303900799, + -249.0021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1149.0449627966366, + -247.5021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1146.4468865852832, + -246.0021980163013, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1143.8488103739298, + -244.5021980163013, + -23.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -220.0, + -29.2418 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-06-54_888171/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-06-54_888171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7b40c3dc5ae3b18bab0ad108f76d5be26c67977 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-06-54_888171/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1846.4995276898508, + 385.31033562505996, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1844.9995276898508, + 382.71225941370665, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1844.9995276898508, + 382.71225941370665, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1843.4995276898508, + 380.11418320235333, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1841.9995276898508, + 377.516106991, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1840.4995276898508, + 374.9180307796467, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1838.9995276898508, + 372.3199545682934, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1837.4995276898508, + 369.72187835694007, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1835.9995276898508, + 367.12380214558675, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1834.4995276898508, + 364.52572593423344, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1832.9995276898508, + 361.9276497228801, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1831.4995276898508, + 359.3295735115268, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1829.9995276898508, + 356.7314973001735, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1828.4995276898508, + 354.13342108882017, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1826.9995276898508, + 351.53534487746685, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1825.4995276898508, + 348.93726866611354, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1823.9995276898508, + 346.3391924547602, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1822.4995276898508, + 343.7411162434069, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1820.9995276898508, + 341.1430400320536, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1819.4995276898508, + 338.5449638207003, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1817.9995276898508, + 335.94688760934696, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1816.4995276898508, + 333.34881139799364, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1814.9995276898508, + 330.7507351866403, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1814.9995276898508, + 330.7507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1812.4014514784974, + 329.2507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1809.803375267144, + 327.7507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1807.2052990557906, + 326.2507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1804.6072228444373, + 324.7507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1802.009146633084, + 323.2507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1799.4110704217305, + 321.7507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1796.8129942103772, + 320.2507351866403, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1794.2149179990238, + 318.7507351866403, + -23.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 284.0, + -1.77502 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-12-45_642834/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-12-45_642834/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d31f54dd94b5cdbbcffead66dad5893de8d99e32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-12-45_642834/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 402.09460030931257, + -60.877118250396016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 399.49652409795925, + -59.377118250396016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.89844788660594, + -57.877118250396016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.3003716752526, + -56.377118250396016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.7022954638993, + -54.877118250396016, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.7022954638993, + -54.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.104219252546, + -53.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.5061430411927, + -51.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.90806682983936, + -50.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.30999061848604, + -48.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 378.7119144071327, + -47.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 376.1138381957794, + -45.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 373.5157619844261, + -44.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 370.9176857730728, + -42.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 368.31960956171946, + -41.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 365.72153335036614, + -39.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 363.1234571390128, + -38.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.5253809276595, + -36.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 357.9273047163062, + -35.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 355.3292285049529, + -33.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 352.73115229359956, + -32.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 350.13307608224625, + -30.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 347.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 347.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 344.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 341.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 338.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 335.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 332.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 329.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 326.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 323.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 320.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 314.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 314.53499987089293, + -29.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 311.9369236595396, + -27.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.3388474481863, + -26.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.740771236833, + -24.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.14269502547967, + -23.377118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.54461881412635, + -21.877118250396016, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 301.54461881412635, + -21.877118250396016, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 300.04461881412635, + -19.2790420390427, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 298.54461881412635, + -16.680965827689384, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 297.04461881412635, + -14.082889616336068, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 297.04461881412635, + -14.082889616336068, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 272.0, + -4.0, + -30.6687 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-17-56_592792/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-17-56_592792/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0814cee5c1600c95d8f88b9f92157e0e7eaf939a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-17-56_592792/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1882.4123274279027, + 437.7256469981353, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1880.9123274279027, + 435.127570786782, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1879.4123274279027, + 432.52949457542866, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1877.9123274279027, + 429.93141836407534, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1876.4123274279027, + 427.333342152722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1874.9123274279027, + 424.7352659413687, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1873.4123274279027, + 422.1371897300154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1871.9123274279027, + 419.5391135186621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1870.4123274279027, + 416.94103730730876, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1868.9123274279027, + 414.34296109595545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1867.4123274279027, + 411.74488488460213, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1865.9123274279027, + 409.1468086732488, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1864.4123274279027, + 406.5487324618955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1862.9123274279027, + 403.9506562505422, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1861.4123274279027, + 401.35258003918887, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1859.9123274279027, + 398.75450382783555, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1858.4123274279027, + 396.15642761648223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1856.9123274279027, + 393.5583514051289, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1855.4123274279027, + 390.9602751937756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1853.9123274279027, + 388.3621989824223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1852.4123274279027, + 385.76412277106897, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1850.9123274279027, + 383.16604655971565, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1850.9123274279027, + 383.16604655971565, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1849.4123274279027, + 380.56797034836234, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1847.9123274279027, + 377.969894137009, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1846.4123274279027, + 375.3718179256557, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1844.9123274279027, + 372.7737417143024, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1843.4123274279027, + 370.1756655029491, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1841.9123274279027, + 367.57758929159576, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1840.4123274279027, + 364.97951308024244, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1838.9123274279027, + 362.3814368688891, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1837.4123274279027, + 359.7833606575358, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1835.9123274279027, + 357.1852844461825, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1834.4123274279027, + 354.5872082348292, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1834.4123274279027, + 354.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1834.4123274279027, + 351.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1834.4123274279027, + 348.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1834.4123274279027, + 345.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1834.4123274279027, + 342.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1834.4123274279027, + 339.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1834.4123274279027, + 336.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1834.4123274279027, + 333.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1834.4123274279027, + 330.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1834.4123274279027, + 327.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1834.4123274279027, + 324.5872082348292, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1834.4123274279027, + 321.5872082348292, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1834.4123274279027, + 321.5872082348292, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-20-14_517048/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-20-14_517048/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8e40d34ba05e8eb60565330f006504f548931ab --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-20-14_517048/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 957.2883761193414, + -24.658077871016815, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 955.7883761193414, + -22.0600016596635, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 954.2883761193414, + -19.461925448310183, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 952.7883761193414, + -16.863849236956867, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 951.2883761193414, + -14.26577302560355, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 949.7883761193414, + -11.667696814250235, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 949.7883761193414, + -11.667696814250235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 949.7883761193414, + -8.667696814250235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 949.7883761193414, + -5.667696814250235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 949.7883761193414, + -2.6676968142502346, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 949.7883761193414, + 0.33230318574976536, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 949.7883761193414, + 3.3323031857497654, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 949.7883761193414, + 6.332303185749765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 949.7883761193414, + 9.332303185749765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 949.7883761193414, + 12.332303185749765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 949.7883761193414, + 15.332303185749765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 949.7883761193414, + 18.332303185749765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 949.7883761193414, + 21.332303185749765, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 949.7883761193414, + 21.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 949.7883761193414, + 24.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 949.7883761193414, + 27.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 949.7883761193414, + 30.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 949.7883761193414, + 33.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 949.7883761193414, + 36.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 949.7883761193414, + 39.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 949.7883761193414, + 42.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 949.7883761193414, + 45.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 949.7883761193414, + 48.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 949.7883761193414, + 51.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 949.7883761193414, + 54.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 949.7883761193414, + 57.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 949.7883761193414, + 60.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 949.7883761193414, + 63.332303185749765, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 949.7883761193414, + 66.33230318574977, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 949.7883761193414, + 69.33230318574977, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 949.7883761193414, + 72.33230318574977, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 949.7883761193414, + 75.33230318574977, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 949.7883761193414, + 78.33230318574977, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 949.7883761193414, + 78.33230318574977, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 104.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-21-21_694241/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-21-21_694241/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a106a0e302d7a58609c6737fbe941887e272dae7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-21-21_694241/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1492.3353953838648, + 174.94106338024034, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1490.8353953838648, + 172.34298716888702, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1489.3353953838648, + 169.7449109575337, + -26.888958510984654 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1489.3353953838648, + 169.7449109575337, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1489.3353953838648, + 169.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1486.7373191725114, + 168.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1484.139242961158, + 166.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1481.5411667498047, + 165.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1478.9430905384513, + 163.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1476.345014327098, + 162.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1473.7469381157446, + 160.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1471.1488619043912, + 159.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1468.5507856930378, + 157.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1465.9527094816845, + 156.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1463.354633270331, + 154.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1460.7565570589777, + 153.2449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1458.1584808476243, + 151.7449109575337, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1458.1584808476243, + 151.7449109575337, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1456.6584808476243, + 149.1468347461804, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1455.1584808476243, + 146.54875853482707, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1453.6584808476243, + 143.95068232347376, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1452.1584808476243, + 141.35260611212044, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1450.6584808476243, + 138.75452990076712, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1449.1584808476243, + 136.1564536894138, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1447.6584808476243, + 133.5583774780605, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1446.1584808476243, + 130.96030126670718, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.6584808476243, + 128.36222505535386, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1443.1584808476243, + 125.76414884400054, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1441.6584808476243, + 123.16607263264723, + -23.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1441.6584808476243, + 123.16607263264723, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1439.060404636271, + 121.66607263264723, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1436.4623284249176, + 120.16607263264723, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1433.8642522135642, + 118.66607263264723, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1431.2661760022108, + 117.16607263264723, + -23.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1431.2661760022108, + 117.16607263264723, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1429.7661760022108, + 114.56799642129391, + -23.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1428.2661760022108, + 111.9699202099406, + -23.888958510984654 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1428.2661760022108, + 111.9699202099406, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 84.0, + -33.482 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-30_1681692777/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-30_1681692777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f030260f9e79547fef889fe552f3ac2485d8b4e3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-30_1681692777/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 347.1100399808371, + 306.7919154315389, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 348.6100399808371, + 304.19383922018557, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 350.1100399808371, + 301.59576300883225, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.6100399808371, + 298.99768679747893, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 353.1100399808371, + 296.3996105861256, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 354.6100399808371, + 293.8015343747723, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 356.1100399808371, + 291.203458163419, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 357.6100399808371, + 288.60538195206567, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 359.1100399808371, + 286.00730574071235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.6100399808371, + 283.40922952935904, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 360.6100399808371, + 283.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.6100399808371, + 280.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 360.6100399808371, + 277.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.6100399808371, + 274.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.6100399808371, + 271.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.6100399808371, + 268.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 360.6100399808371, + 265.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.6100399808371, + 262.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 360.6100399808371, + 259.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 360.6100399808371, + 256.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 360.6100399808371, + 253.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 360.6100399808371, + 250.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.6100399808371, + 247.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.6100399808371, + 244.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 360.6100399808371, + 241.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 360.6100399808371, + 238.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 360.6100399808371, + 235.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 360.6100399808371, + 232.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 360.6100399808371, + 229.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 360.6100399808371, + 226.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 360.6100399808371, + 223.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.6100399808371, + 220.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.6100399808371, + 217.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 360.6100399808371, + 214.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 360.6100399808371, + 211.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 360.6100399808371, + 208.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 360.6100399808371, + 205.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 360.6100399808371, + 202.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 360.6100399808371, + 199.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 360.6100399808371, + 196.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 360.6100399808371, + 193.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 360.6100399808371, + 190.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 360.6100399808371, + 187.40922952935904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 360.6100399808371, + 184.40922952935904, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-53_1714636915/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-53_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4147cb8f6ff5963921cdce4a1bf319fc5e03a4f3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-34-53_1714636915/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1332.8262207635576, + 708.5974413098979, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1334.3262207635576, + 711.1955175212513, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1335.8262207635576, + 713.7935937326047, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1337.3262207635576, + 716.391669943958, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1338.8262207635576, + 718.9897461553114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1340.3262207635576, + 721.5878223666648, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1341.8262207635576, + 724.1858985780182, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1343.3262207635576, + 726.7839747893715, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1344.8262207635576, + 729.3820510007249, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1346.3262207635576, + 731.9801272120783, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1347.8262207635576, + 734.5782034234317, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1349.3262207635576, + 737.176279634785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1350.8262207635576, + 739.7743558461384, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1352.3262207635576, + 742.3724320574918, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1353.8262207635576, + 744.9705082688452, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1355.3262207635576, + 747.5685844801985, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1356.8262207635576, + 750.1666606915519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1358.3262207635576, + 752.7647369029053, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1358.3262207635576, + 752.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1360.924296974911, + 754.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1363.5223731862643, + 755.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1366.1204493976177, + 757.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1368.718525608971, + 758.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1371.3166018203244, + 760.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1373.9146780316778, + 761.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1376.5127542430312, + 763.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1379.1108304543845, + 764.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1381.708906665738, + 766.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1384.3069828770913, + 767.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1386.9050590884447, + 769.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1389.503135299798, + 770.7647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1392.1012115111514, + 772.2647369029053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1394.6992877225048, + 773.7647369029053, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-43-23_2145174067/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-43-23_2145174067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2aa1c42374ea5254b52900805e3286065826384f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-43-23_2145174067/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1010.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1007.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1004.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1001.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 998.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 995.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 992.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 989.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 986.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 983.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 983.500284342174, + 555.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 980.9022081308208, + 553.750753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 978.3041319194674, + 552.250753495322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 975.706055708114, + 550.750753495322, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 900.0, + 540.0, + -29.4136 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-46-44_1131176229/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-46-44_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..755f9109ba997627ecb338c7299aa4c1d0493e3e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-46-44_1131176229/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1325.0623809257106, + -98.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1322.4643047143572, + -100.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1319.8662285030039, + -101.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1317.2681522916505, + -103.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1314.6700760802971, + -104.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1312.0719998689437, + -106.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1309.4739236575904, + -107.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1306.875847446237, + -109.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1304.2777712348836, + -110.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1301.6796950235303, + -112.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1299.0816188121769, + -113.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1296.4835426008235, + -115.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1293.8854663894701, + -116.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1291.2873901781168, + -118.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1288.6893139667634, + -119.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1286.09123775541, + -121.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1283.4931615440566, + -122.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1280.8950853327033, + -124.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1278.29700912135, + -125.68821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1275.6989329099965, + -127.18821210032768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1273.1008566986432, + -128.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915077 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1270.5027804872898, + -130.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1267.9047042759364, + -131.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1265.306628064583, + -133.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1262.7085518532297, + -134.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1260.1104756418763, + -136.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1257.512399430523, + -137.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1254.9143232191695, + -139.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1252.3162470078162, + -140.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1249.7181707964628, + -142.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1247.1200945851094, + -143.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1244.522018373756, + -145.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1241.9239421624027, + -146.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1239.3258659510493, + -148.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1236.727789739696, + -149.68821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1234.1297135283426, + -151.18821210032766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1231.5316373169892, + -152.68821210032766, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1200.0, + -172.0, + -33.4366 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-50-42_1129566413/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-50-42_1129566413/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c25b55764fdbda8172f6cb89617867e4b155ef2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-50-42_1129566413/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 357.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 360.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 366.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 369.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 372.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 381.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 381.79907146631587, + 392.67127546567275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.29907146631587, + 395.26935167702607, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 384.79907146631587, + 397.8674278883794, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.29907146631587, + 400.4655040997327, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 387.79907146631587, + 403.063580311086, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 389.29907146631587, + 405.66165652243933, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 390.79907146631587, + 408.25973273379265, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + 440.0, + -34.1924 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-52-0_1911759956/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-52-0_1911759956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..885a62c3ef232ecf078f84225410895c25a3de7f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-52-0_1911759956/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1648.224492144165, + 241.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1650.8225683555183, + 240.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1653.4206445668717, + 238.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1656.018720778225, + 237.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1658.6167969895785, + 235.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1661.2148732009318, + 234.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1663.8129494122852, + 232.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1666.4110256236386, + 231.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1669.009101834992, + 229.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1671.6071780463453, + 228.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1674.2052542576987, + 226.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1676.803330469052, + 225.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1679.4014066804054, + 223.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1681.9994828917588, + 222.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1684.5975591031122, + 220.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1687.1956353144656, + 219.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1689.793711525819, + 217.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1692.3917877371723, + 216.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1694.9898639485257, + 214.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1697.587940159879, + 213.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1700.1860163712324, + 211.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1702.7840925825858, + 210.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1705.3821687939392, + 208.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1707.9802450052925, + 207.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1710.578321216646, + 205.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1713.1763974279993, + 204.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1715.7744736393527, + 202.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1718.372549850706, + 201.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1720.9706260620594, + 199.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1723.5687022734128, + 198.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1726.1667784847662, + 196.680479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1728.7648546961195, + 195.180479214218, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1728.7648546961195, + 195.180479214218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1730.2648546961195, + 192.58240300286468, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1731.7648546961195, + 189.98432679151136, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1733.2648546961195, + 187.38625058015805, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1734.7648546961195, + 184.78817436880473, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1736.2648546961195, + 182.19009815745142, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 172.0, + 0.929306 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-56-12_1632621729/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-56-12_1632621729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e6c275fa13785690294c047dcd6cf435e6307ba --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-56-12_1632621729/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 570.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 573.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 576.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 579.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 582.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 585.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 588.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 591.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 594.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 597.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 600.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 603.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 606.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 609.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 612.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 615.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 618.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 621.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 624.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 627.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 630.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 633.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 633.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 633.7995862687325, + 1222.0946301299753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 635.2995862687325, + 1219.4965539186219, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 636.7995862687325, + 1216.8984777072685, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 638.2995862687325, + 1214.3004014959151, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 638.2995862687325, + 1214.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 640.8976624800857, + 1212.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 643.4957386914391, + 1211.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 646.0938149027925, + 1209.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 648.6918911141458, + 1208.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 651.2899673254992, + 1206.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 653.8880435368526, + 1205.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 656.486119748206, + 1203.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 659.0841959595593, + 1202.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 661.6822721709127, + 1200.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 664.2803483822661, + 1199.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 666.8784245936195, + 1197.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 669.4765008049728, + 1196.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 672.0745770163262, + 1194.8004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 674.6726532276796, + 1193.3004014959151, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 677.270729439033, + 1191.8004014959151, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1188.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-13-2_364228444/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-13-2_364228444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eafeba350fe6bfdd3b10579a62b673925969037b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-13-2_364228444/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 776.0405243571493, + 395.0911365481837, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 774.5405243571493, + 392.4930603368304, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 773.0405243571493, + 389.8949841254771, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 771.5405243571493, + 387.2969079141238, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 770.0405243571493, + 384.69883170277046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 768.5405243571493, + 382.10075549141715, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 767.0405243571493, + 379.50267928006383, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 765.5405243571493, + 376.9046030687105, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 764.0405243571493, + 374.3065268573572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 762.5405243571493, + 371.7084506460039, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 761.0405243571493, + 369.11037443465057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 759.5405243571493, + 366.51229822329725, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 758.0405243571493, + 363.91422201194393, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 756.5405243571493, + 361.3161458005906, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 755.0405243571493, + 358.7180695892373, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 753.5405243571493, + 356.119993377884, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 752.0405243571493, + 353.52191716653067, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 750.5405243571493, + 350.92384095517735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 749.0405243571493, + 348.32576474382404, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 747.5405243571493, + 345.7276885324707, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 746.0405243571493, + 343.1296123211174, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 744.5405243571493, + 340.5315361097641, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 743.0405243571493, + 337.9334598984108, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 741.5405243571493, + 335.33538368705746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 740.0405243571493, + 332.73730747570414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 738.5405243571493, + 330.1392312643508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 737.0405243571493, + 327.5411550529975, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 735.5405243571493, + 324.9430788416442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 734.0405243571493, + 322.3450026302909, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 732.5405243571493, + 319.74692641893756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 731.0405243571493, + 317.14885020758425, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 731.0405243571493, + 317.14885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 728.4424481457959, + 315.64885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 725.8443719344425, + 314.14885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 723.2462957230891, + 312.64885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 720.6482195117358, + 311.14885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 718.0501433003824, + 309.64885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 715.452067089029, + 308.14885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 712.8539908776756, + 306.64885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 710.2559146663223, + 305.14885020758425, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 710.2559146663223, + 305.14885020758425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 708.7559146663223, + 302.55077399623093, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-14-43_1633108117/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-14-43_1633108117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b74699667a1b00e66f889b1a7e64f40b4aed8158 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-14-43_1633108117/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1296.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1293.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1290.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1287.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1284.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1281.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1278.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1275.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1275.9355506310903, + -246.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1273.337474419737, + -248.06396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1270.7393982083836, + -249.56396382908508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1268.1413219970302, + -251.06396382908508, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1192.0, + -272.0, + -29.3198 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-0_498777856/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-0_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5d9aa4c2633b8dd90d5e51d99f8905d5a6e1426 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-0_498777856/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 645.7278060158511, + 816.9727531796789, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 647.2278060158511, + 814.3746769683255, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 648.7278060158511, + 811.7766007569721, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 650.2278060158511, + 809.1785245456188, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 651.7278060158511, + 806.5804483342654, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 653.2278060158511, + 803.982372122912, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 654.7278060158511, + 801.3842959115586, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 656.2278060158511, + 798.7862197002053, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 657.7278060158511, + 796.1881434888519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 659.2278060158511, + 793.5900672774985, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 660.7278060158511, + 790.9919910661451, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 662.2278060158511, + 788.3939148547918, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 663.7278060158511, + 785.7958386434384, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 665.2278060158511, + 783.197762432085, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 666.7278060158511, + 780.5996862207317, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 668.2278060158511, + 778.0016100093783, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 669.7278060158511, + 775.4035337980249, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 671.2278060158511, + 772.8054575866715, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 672.7278060158511, + 770.2073813753182, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 674.2278060158511, + 767.6093051639648, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 675.7278060158511, + 765.0112289526114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 677.2278060158511, + 762.413152741258, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 677.2278060158511, + 762.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 677.2278060158511, + 759.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 677.2278060158511, + 756.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 677.2278060158511, + 753.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 677.2278060158511, + 750.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 677.2278060158511, + 747.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 677.2278060158511, + 744.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 677.2278060158511, + 741.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 677.2278060158511, + 738.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 677.2278060158511, + 735.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 677.2278060158511, + 732.413152741258, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 677.2278060158511, + 732.413152741258, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 678.7278060158511, + 729.8150765299047, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 680.2278060158511, + 727.2170003185513, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 681.7278060158511, + 724.6189241071979, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 683.2278060158511, + 722.0208478958446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 684.7278060158511, + 719.4227716844912, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 686.2278060158511, + 716.8246954731378, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 687.7278060158511, + 714.2266192617844, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 696.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-37_524872353/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-37_524872353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f7454a8f4cbb77edcf2cc9272edfe42a2134116 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-17-37_524872353/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1723.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1726.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1729.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1732.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1735.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1735.5662222571002, + 529.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1738.1642984684536, + 528.0986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1740.762374679807, + 526.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1743.3604508911603, + 525.0986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1745.9585271025137, + 523.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1748.556603313867, + 522.0986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1751.1546795252204, + 520.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1753.7527557365738, + 519.0986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1756.3508319479272, + 517.5986034028516, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1758.9489081592806, + 516.0986034028516, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1816.0, + 488.0, + -8.00904 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-27-38_2147469841/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-27-38_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01454ecdeb3b09b1ca6177eb9b77c4871fc9fbfd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-27-38_2147469841/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1993.4067468588014, + 729.6380038563267, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1991.9067468588014, + 732.23608006768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1990.4067468588014, + 734.8341562790333, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1988.9067468588014, + 737.4322324903867, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1987.4067468588014, + 740.0303087017401, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1985.9067468588014, + 742.6283849130934, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1984.4067468588014, + 745.2264611244468, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1982.9067468588014, + 747.8245373358002, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1981.4067468588014, + 750.4226135471536, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1979.9067468588014, + 753.0206897585069, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1978.4067468588014, + 755.6187659698603, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1976.9067468588014, + 758.2168421812137, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1975.4067468588014, + 760.814918392567, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1973.9067468588014, + 763.4129946039204, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1972.4067468588014, + 766.0110708152738, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1970.9067468588014, + 768.6091470266272, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1970.9067468588014, + 768.6091470266272, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1968.308670647448, + 770.1091470266272, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1965.7105944360947, + 771.6091470266272, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1963.1125182247413, + 773.1091470266272, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1960.514442013388, + 774.6091470266272, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-28-15_1911165193/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-28-15_1911165193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f917690a2d56813d64d26b90f5d670d002c2b24 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-28-15_1911165193/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 798.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 795.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 792.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 789.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 786.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 783.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 780.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 777.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 774.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 771.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 768.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 765.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 762.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 759.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 756.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 753.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 750.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 747.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 744.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 741.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 738.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 738.9605086022168, + 853.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 736.3624323908634, + 852.1255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 733.7643561795101, + 850.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 731.1662799681567, + 849.1255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 728.5682037568033, + 847.6255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 725.9701275454499, + 846.1255509058027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 723.3720513340966, + 844.6255509058027, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 844.0, + -30.1697 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-34-24_1139901474/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-34-24_1139901474/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4d0267904a2725e01d2987ce437244f583a9089 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-34-24_1139901474/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1243.5270615707232, + 651.2068798831938, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1242.0270615707232, + 648.6088036718404, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1240.5270615707232, + 646.010727460487, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1239.0270615707232, + 643.4126512491337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1237.5270615707232, + 640.8145750377803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1236.0270615707232, + 638.2164988264269, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1234.5270615707232, + 635.6184226150735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1233.0270615707232, + 633.0203464037202, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1231.5270615707232, + 630.4222701923668, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1230.0270615707232, + 627.8241939810134, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1228.5270615707232, + 625.22611776966, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1227.0270615707232, + 622.6280415583067, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1225.5270615707232, + 620.0299653469533, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1224.0270615707232, + 617.4318891355999, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1222.5270615707232, + 614.8338129242466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1221.0270615707232, + 612.2357367128932, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1219.5270615707232, + 609.6376605015398, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1218.0270615707232, + 607.0395842901864, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1216.5270615707232, + 604.4415080788331, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1215.0270615707232, + 601.8434318674797, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1213.5270615707232, + 599.2453556561263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1212.0270615707232, + 596.647279444773, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1210.5270615707232, + 594.0492032334196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1209.0270615707232, + 591.4511270220662, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1209.0270615707232, + 591.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1209.0270615707232, + 588.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1209.0270615707232, + 585.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1209.0270615707232, + 582.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1209.0270615707232, + 579.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1209.0270615707232, + 576.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1209.0270615707232, + 573.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1209.0270615707232, + 570.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1209.0270615707232, + 567.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1209.0270615707232, + 564.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1209.0270615707232, + 561.4511270220662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1209.0270615707232, + 558.4511270220662, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1200.0, + 540.0, + -33.4368 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-2_653468858/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-2_653468858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e40d47d00f53a8a156191b448dd456b9ece12968 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-2_653468858/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1565.4853711241444, + 422.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1568.0834473354978, + 420.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1570.6815235468512, + 419.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1573.2795997582045, + 417.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1575.877675969558, + 416.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1578.4757521809113, + 414.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1581.0738283922647, + 413.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1583.671904603618, + 411.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1586.2699808149714, + 410.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1588.8680570263248, + 408.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1591.4661332376782, + 407.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1594.0642094490315, + 405.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1596.662285660385, + 404.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1599.2603618717383, + 402.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1601.8584380830916, + 401.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1604.456514294445, + 399.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1607.0545905057984, + 398.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1609.6526667171518, + 396.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1612.2507429285051, + 395.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1614.8488191398585, + 393.52794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1617.4468953512119, + 392.02794228163646, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1617.4468953512119, + 392.02794228163646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1618.9468953512119, + 389.42986607028314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1620.4468953512119, + 386.8317898589298, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1621.9468953512119, + 384.2337136475765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1623.4468953512119, + 381.6356374362232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1624.9468953512119, + 379.0375612248699, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1626.4468953512119, + 376.43948501351656, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1627.9468953512119, + 373.84140880216324, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1629.4468953512119, + 371.2433325908099, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1630.9468953512119, + 368.6452563794566, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1630.9468953512119, + 368.6452563794566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1633.5449715625653, + 367.1452563794566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1636.1430477739186, + 365.6452563794566, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + 352.0, + -33.5621 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-11_349517445/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-11_349517445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6829a92279b92d1fdc5d47b9ada33b7f9911730 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-11_349517445/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -25.332134446716168, + 117.16596785338746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -23.832134446716168, + 114.56789164203414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -22.332134446716168, + 111.96981543068082, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -20.832134446716168, + 109.37173921932751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -19.332134446716168, + 106.77366300797419, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -17.832134446716168, + 104.17558679662088, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -16.332134446716168, + 101.57751058526756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -14.832134446716168, + 98.97943437391424, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -13.332134446716168, + 96.38135816256093, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -13.332134446716168, + 96.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -13.332134446716168, + 93.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -13.332134446716168, + 90.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.332134446716168, + 87.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -13.332134446716168, + 84.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -13.332134446716168, + 81.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -13.332134446716168, + 78.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -13.332134446716168, + 75.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.332134446716168, + 72.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -13.332134446716168, + 69.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -13.332134446716168, + 66.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -13.332134446716168, + 63.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -13.332134446716168, + 60.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -13.332134446716168, + 57.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -13.332134446716168, + 54.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -13.332134446716168, + 51.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -13.332134446716168, + 48.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -13.332134446716168, + 45.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -13.332134446716168, + 42.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -13.332134446716168, + 39.38135816256093, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -13.332134446716168, + 39.38135816256093, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -13.332134446716168, + 39.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -10.734058235362852, + 37.88135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -8.135982024009536, + 36.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -5.53790581265622, + 34.88135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2.939829601302904, + 33.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -0.3417533899495879, + 31.88135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2.256322821403728, + 30.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4.854399032757044, + 28.88135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 7.45247524411036, + 27.38135816256093, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 10.050551455463676, + 25.88135816256093, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.0, + 8.0, + 1.51296 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-26-54_570073850/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-26-54_570073850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9baf093aa12d6f17c1980c470d86dfde32065969 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-26-54_570073850/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 440.14873704430073, + 306.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 437.5506608329474, + 308.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.9525846215941, + 309.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 432.3545084102408, + 311.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 429.75643219888747, + 312.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 427.15835598753415, + 314.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 424.56027977618083, + 315.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 421.9622035648275, + 317.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.3641273534742, + 318.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 416.7660511421209, + 320.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 414.16797493076757, + 321.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 411.56989871941425, + 323.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 408.97182250806094, + 324.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 406.3737462967076, + 326.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 403.7756700853543, + 327.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 401.177593874001, + 329.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 398.5795176626477, + 330.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 395.98144145129436, + 332.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 393.38336523994104, + 333.8003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 390.7852890285877, + 335.3003560535989, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 390.7852890285877, + 335.3003560535989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 389.2852890285877, + 337.8984322649522, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 387.7852890285877, + 340.4965084763055, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 386.2852890285877, + 343.0945846876588, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 384.7852890285877, + 345.69266089901214, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 383.2852890285877, + 348.29073711036546, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 381.7852890285877, + 350.88881332171877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 380.2852890285877, + 353.4868895330721, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 378.7852890285877, + 356.0849657444254, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 377.2852890285877, + 358.6830419557787, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 377.2852890285877, + 358.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 377.2852890285877, + 361.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 377.2852890285877, + 364.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 377.2852890285877, + 367.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 377.2852890285877, + 370.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 377.2852890285877, + 373.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 377.2852890285877, + 376.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 377.2852890285877, + 379.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 377.2852890285877, + 382.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 377.2852890285877, + 385.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 377.2852890285877, + 388.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 377.2852890285877, + 391.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 377.2852890285877, + 394.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 377.2852890285877, + 397.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 377.2852890285877, + 400.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 377.2852890285877, + 403.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 377.2852890285877, + 406.6830419557787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 377.2852890285877, + 409.6830419557787, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 436.0, + -27.9027 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-2_1431419379/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-2_1431419379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53f2d06b50d264f7475b147e1c45b1d600f0baee --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-2_1431419379/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1131.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1134.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1137.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1140.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1143.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1146.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1149.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1149.305671095082, + -148.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1151.9037473064354, + -149.71039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1154.5018235177888, + -151.21039828070485, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1157.0998997291422, + -152.71039828070485, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1248.0, + -172.0, + -33.4366 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-58_619290071/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-58_619290071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8f9c206e5ac6f03d582fb1f5e1da1198bd8c82c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-3-58_619290071/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 961.3802834762192, + 916.575466090327, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 959.8802834762192, + 919.1735423016803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 958.3802834762192, + 921.7716185130337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 956.8802834762192, + 924.369694724387, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 955.3802834762192, + 926.9677709357404, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 953.8802834762192, + 929.5658471470938, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 952.3802834762192, + 932.1639233584472, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 950.8802834762192, + 934.7619995698005, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 949.3802834762192, + 937.3600757811539, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 947.8802834762192, + 939.9581519925073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 946.3802834762192, + 942.5562282038607, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 944.8802834762192, + 945.154304415214, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 943.3802834762192, + 947.7523806265674, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 941.8802834762192, + 950.3504568379208, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 940.3802834762192, + 952.9485330492741, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 938.8802834762192, + 955.5466092606275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 937.3802834762192, + 958.1446854719809, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 935.8802834762192, + 960.7427616833343, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 934.3802834762192, + 963.3408378946876, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 932.8802834762192, + 965.938914106041, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 931.3802834762192, + 968.5369903173944, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 929.8802834762192, + 971.1350665287478, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 928.3802834762192, + 973.7331427401011, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 926.8802834762192, + 976.3312189514545, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 926.8802834762192, + 976.3312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 924.282207264866, + 977.8312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 921.6841310535126, + 979.3312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 919.0860548421592, + 980.8312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 916.4879786308059, + 982.3312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 913.8899024194525, + 983.8312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 911.2918262080991, + 985.3312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 908.6937499967457, + 986.8312189514545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 906.0956737853924, + 988.3312189514545, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1012.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-31-46_1566288819/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-31-46_1566288819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ee1461a6164d29efc4b12389bf424768b4c53c4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-31-46_1566288819/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1076.7618498458871, + 219.7097610450227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1076.7618498458871, + 216.7097610450227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1076.7618498458871, + 213.7097610450227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1076.7618498458871, + 210.7097610450227, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1076.7618498458871, + 210.7097610450227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1075.2618498458871, + 208.1116848336694, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1073.7618498458871, + 205.51360862231607, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 84.0, + -33.4368 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-32-17_2114937732/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-32-17_2114937732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cba6cc1b309153f79e39066958d101cffe29b1d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-32-17_2114937732/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1697.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1700.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1703.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1706.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1709.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1712.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1715.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1718.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1721.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1724.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1724.1218862481455, + 270.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1726.719962459499, + 272.16732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1729.3180386708523, + 273.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1731.9161148822056, + 275.16732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.514191093559, + 276.66732269249354, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1737.1122673049124, + 278.16732269249354, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-35-40_1858721860/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-35-40_1858721860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfb66131b07d2e84c8701ed56fed5f10d1f9cb1b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-35-40_1858721860/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 934.5986474586437, + 228.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 932.0005712472903, + 226.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 929.4024950359369, + 225.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 926.8044188245835, + 223.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 924.2063426132302, + 222.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 921.6082664018768, + 220.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 919.0101901905234, + 219.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 916.41211397917, + 217.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 913.8140377678167, + 216.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 911.2159615564633, + 214.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 908.6178853451099, + 213.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 906.0198091337566, + 211.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 903.4217329224032, + 210.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 900.8236567110498, + 208.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 898.2255804996964, + 207.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 895.6275042883431, + 205.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 893.0294280769897, + 204.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 890.4313518656363, + 202.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 887.8332756542829, + 201.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 885.2351994429296, + 199.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 882.6371232315762, + 198.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 880.0390470202228, + 196.5831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 877.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 877.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 874.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 871.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 868.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 865.4409708088695, + 195.0831773740625, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 840.0, + 184.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-37-21_1520223205/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-37-21_1520223205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd54ad88b6212c026ad94f14e0a8c6c2be7b490d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-37-21_1520223205/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.35479142573973, + 18.925437660385455, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 384.85479142573973, + 21.52351387173877, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 384.85479142573973, + 21.52351387173877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.2567152143864, + 23.02351387173877, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.2567152143864, + 23.02351387173877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.7567152143864, + 25.621590083092087, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.2567152143864, + 28.219666294445403, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.7567152143864, + 30.81774250579872, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 376.2567152143864, + 33.415818717152035, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.7567152143864, + 36.01389492850535, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 373.2567152143864, + 38.61197113985867, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 371.7567152143864, + 41.21004735121198, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 370.2567152143864, + 43.8081235625653, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 368.7567152143864, + 46.406199773918615, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 368.7567152143864, + 46.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 368.7567152143864, + 49.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.7567152143864, + 52.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 368.7567152143864, + 55.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 368.7567152143864, + 58.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 368.7567152143864, + 61.406199773918615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 368.7567152143864, + 64.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 368.7567152143864, + 67.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 368.7567152143864, + 70.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 368.7567152143864, + 73.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 368.7567152143864, + 76.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 368.7567152143864, + 79.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 368.7567152143864, + 82.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 368.7567152143864, + 85.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 368.7567152143864, + 88.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 368.7567152143864, + 91.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 368.7567152143864, + 94.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 368.7567152143864, + 97.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 368.7567152143864, + 100.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 368.7567152143864, + 103.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 368.7567152143864, + 106.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 368.7567152143864, + 109.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 368.7567152143864, + 112.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 368.7567152143864, + 115.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 368.7567152143864, + 118.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 368.7567152143864, + 121.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 368.7567152143864, + 124.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 368.7567152143864, + 127.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 368.7567152143864, + 130.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 368.7567152143864, + 133.40619977391862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 368.7567152143864, + 136.40619977391862, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-40-25_1737518944/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-40-25_1737518944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b63a293cd0559844bf6d63131b9f8acff668d507 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-40-25_1737518944/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1726.8501530342774, + 534.8107581117264, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1725.3501530342774, + 532.2126819003731, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1723.8501530342774, + 529.6146056890198, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1722.3501530342774, + 527.0165294776664, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1720.8501530342774, + 524.418453266313, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1719.3501530342774, + 521.8203770549596, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1717.8501530342774, + 519.2223008436063, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1716.3501530342774, + 516.6242246322529, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1714.8501530342774, + 514.0261484208995, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1713.3501530342774, + 511.4280722095462, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1711.8501530342774, + 508.8299959981929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1710.3501530342774, + 506.23191978683957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1708.8501530342774, + 503.63384357548625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1707.3501530342774, + 501.03576736413294, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1705.8501530342774, + 498.4376911527796, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1704.3501530342774, + 495.8396149414263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1702.8501530342774, + 493.241538730073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1701.3501530342774, + 490.6434625187197, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1699.8501530342774, + 488.04538630736636, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1698.3501530342774, + 485.44731009601304, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1696.8501530342774, + 482.8492338846597, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1695.3501530342774, + 480.2511576733064, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1693.8501530342774, + 477.6530814619531, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1692.3501530342774, + 475.0550052505998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1690.8501530342774, + 472.45692903924646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1689.3501530342774, + 469.85885282789314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1687.8501530342774, + 467.26077661653983, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1686.3501530342774, + 464.6627004051865, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1684.8501530342774, + 462.0646241938332, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1683.3501530342774, + 459.4665479824799, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1681.8501530342774, + 456.86847177112656, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1680.3501530342774, + 454.27039555977325, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1678.8501530342774, + 451.67231934841993, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1678.8501530342774, + 451.67231934841993, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1678.8501530342774, + 448.67231934841993, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 408.0, + -29.5391 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-12_1676902021/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-12_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da4ed3d3c61e6613ae1d5938dc35f5d8310a73af --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-12_1676902021/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1996.0295177327303, + -157.02112168378116, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1994.5295177327303, + -154.42304547242784, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1993.0295177327303, + -151.82496926107453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1991.5295177327303, + -149.2268930497212, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1990.0295177327303, + -146.6288168383679, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1988.5295177327303, + -144.03074062701458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1987.0295177327303, + -141.43266441566126, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1985.5295177327303, + -138.83458820430795, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1984.0295177327303, + -136.23651199295463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.5295177327303, + -133.63843578160132, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1981.0295177327303, + -131.040359570248, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1979.5295177327303, + -128.44228335889468, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1978.0295177327303, + -125.84420714754137, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1976.5295177327303, + -123.24613093618805, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1975.0295177327303, + -120.64805472483474, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1973.5295177327303, + -118.04997851348142, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1972.0295177327303, + -115.4519023021281, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1970.5295177327303, + -112.85382609077479, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1969.0295177327303, + -110.25574987942147, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1967.5295177327303, + -107.65767366806816, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1966.0295177327303, + -105.05959745671484, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1964.5295177327303, + -102.46152124536152, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1963.0295177327303, + -99.86344503400821, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1961.5295177327303, + -97.26536882265489, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1960.0295177327303, + -94.66729261130158, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1960.0295177327303, + -94.66729261130158, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1957.4314415213769, + -93.16729261130158, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1954.8333653100235, + -91.66729261130158, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-55_950390868/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-55_950390868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe0c08428e9dbcab60b8d781224f947f732f3f1f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-42-55_950390868/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 825.4510819581357, + 681.760402817621, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 823.9510819581357, + 679.1623266062677, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.4510819581357, + 676.5642503949143, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 820.9510819581357, + 673.966174183561, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 819.4510819581357, + 671.3680979722076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 817.9510819581357, + 668.7700217608542, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 816.4510819581357, + 666.1719455495008, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 814.9510819581357, + 663.5738693381475, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 814.9510819581357, + 663.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 814.9510819581357, + 660.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 814.9510819581357, + 657.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 814.9510819581357, + 654.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 814.9510819581357, + 651.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 814.9510819581357, + 648.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 814.9510819581357, + 645.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 814.9510819581357, + 642.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 814.9510819581357, + 639.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 814.9510819581357, + 636.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 814.9510819581357, + 633.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 814.9510819581357, + 630.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 814.9510819581357, + 627.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 814.9510819581357, + 624.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 814.9510819581357, + 621.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 814.9510819581357, + 618.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 814.9510819581357, + 615.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 814.9510819581357, + 612.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 814.9510819581357, + 609.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 814.9510819581357, + 606.5738693381475, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 814.9510819581357, + 606.5738693381475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 816.4510819581357, + 603.9757931267941, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 817.9510819581357, + 601.3777169154407, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 819.4510819581357, + 598.7796407040873, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 820.9510819581357, + 596.181564492734, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 822.4510819581357, + 593.5834882813806, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 823.9510819581357, + 590.9854120700272, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 825.4510819581357, + 588.3873358586739, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 826.9510819581357, + 585.7892596473205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 828.4510819581357, + 583.1911834359671, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 829.9510819581357, + 580.5931072246137, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 831.4510819581357, + 577.9950310132604, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 832.9510819581357, + 575.396954801907, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 834.4510819581357, + 572.7988785905536, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 835.9510819581357, + 570.2008023792002, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 837.4510819581357, + 567.6027261678469, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 838.9510819581357, + 565.0046499564935, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 840.4510819581357, + 562.4065737451401, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 841.9510819581357, + 559.8084975337867, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 843.4510819581357, + 557.2104213224334, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + 540.0, + -33.4364 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-44-2_1242608872/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-44-2_1242608872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4e1d232dd890676645999155483515a895b15005 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-44-2_1242608872/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 974.8416537908006, + -9.752319036500708, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 976.3416537908006, + -7.154242825147392, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 977.8416537908006, + -4.556166613794076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 979.3416537908006, + -1.9580904024407602, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 980.8416537908006, + 0.6399858089125559, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 982.3416537908006, + 3.238062020265872, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 983.8416537908006, + 5.836138231619188, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 985.3416537908006, + 8.434214442972504, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 986.8416537908006, + 11.03229065432582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 988.3416537908006, + 13.630366865679136, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 989.8416537908006, + 16.228443077032452, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 991.3416537908006, + 18.826519288385768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 992.8416537908006, + 21.424595499739084, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 994.3416537908006, + 24.0226717110924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 995.8416537908006, + 26.620747922445716, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 997.3416537908006, + 29.218824133799032, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 998.8416537908006, + 31.816900345152348, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1000.3416537908006, + 34.414976556505664, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1001.8416537908006, + 37.01305276785898, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1003.3416537908006, + 39.611128979212296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1004.8416537908006, + 42.20920519056561, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1006.3416537908006, + 44.80728140191893, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1007.8416537908006, + 47.405357613272244, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1007.8416537908006, + 47.405357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1010.439730002154, + 48.905357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1013.0378062135073, + 50.405357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1015.6358824248607, + 51.905357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1018.2339586362141, + 53.405357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1020.8320348475675, + 54.905357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1023.4301110589208, + 56.405357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1026.0281872702742, + 57.905357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1028.6262634816276, + 59.405357613272244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1031.224339692981, + 60.905357613272244, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 84.0, + -33.4368 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-52-50_78012497/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-52-50_78012497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9024d1f57694ec3f16a1a4d5a3fbc89ff6b0983 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-52-50_78012497/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 843.9399631808615, + 201.4969603825925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 842.4399631808615, + 204.09503659394582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 840.9399631808615, + 206.69311280529914, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 839.4399631808615, + 209.29118901665245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 837.9399631808615, + 211.88926522800577, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 836.4399631808615, + 214.48734143935908, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 834.9399631808615, + 217.0854176507124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 833.4399631808615, + 219.68349386206572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 831.9399631808615, + 222.28157007341903, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 830.4399631808615, + 224.87964628477235, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 828.9399631808615, + 227.47772249612566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 827.4399631808615, + 230.07579870747898, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 825.9399631808615, + 232.6738749188323, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 824.4399631808615, + 235.2719511301856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 822.9399631808615, + 237.87002734153893, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 821.4399631808615, + 240.46810355289225, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 819.9399631808615, + 243.06617976424556, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 818.4399631808615, + 245.66425597559888, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 816.9399631808615, + 248.2623321869522, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 815.4399631808615, + 250.8604083983055, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 813.9399631808615, + 253.45848460965883, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 812.4399631808615, + 256.0565608210121, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 810.9399631808615, + 258.65463703236543, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 296.0, + 1.28039 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-54-43_474613996/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-54-43_474613996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56d9e6e88057770f852c1933b5cd4aa1818737e1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-54-43_474613996/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1623.1750227299767, + -131.23154426059327, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1621.6750227299767, + -128.63346804923995, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1620.1750227299767, + -126.03539183788664, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1618.6750227299767, + -123.43731562653332, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1617.1750227299767, + -120.83923941518, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1615.6750227299767, + -118.24116320382669, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1614.1750227299767, + -115.64308699247337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1612.6750227299767, + -113.04501078112006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1611.1750227299767, + -110.44693456976674, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1609.6750227299767, + -107.84885835841342, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1608.1750227299767, + -105.25078214706011, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1606.6750227299767, + -102.65270593570679, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1605.1750227299767, + -100.05462972435348, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1603.6750227299767, + -97.45655351300016, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1603.6750227299767, + -97.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1601.0769465186233, + -95.95655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1598.47887030727, + -94.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1595.8807940959166, + -92.95655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1593.2827178845632, + -91.45655351300016, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1593.2827178845632, + -91.45655351300016, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1593.2827178845632, + -91.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1593.2827178845632, + -88.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1593.2827178845632, + -85.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1593.2827178845632, + -82.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1593.2827178845632, + -79.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1593.2827178845632, + -76.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1593.2827178845632, + -73.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1593.2827178845632, + -70.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1593.2827178845632, + -67.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1593.2827178845632, + -64.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1593.2827178845632, + -61.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1593.2827178845632, + -58.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1593.2827178845632, + -55.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1593.2827178845632, + -52.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1593.2827178845632, + -49.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1593.2827178845632, + -46.45655351300016, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1593.2827178845632, + -46.45655351300016, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1593.2827178845632, + -46.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1590.6846416732099, + -44.95655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1588.0865654618565, + -43.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1585.488489250503, + -41.95655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1582.8904130391497, + -40.45655351300016, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1582.8904130391497, + -40.45655351300016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1581.3904130391497, + -37.85847730164684, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1579.8904130391497, + -35.26040109029353, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1578.3904130391497, + -32.66232487894021, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1576.8904130391497, + -30.064248667586895, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1575.3904130391497, + -27.46617245623358, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + 0.0, + -29.537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-58-6_932026304/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-58-6_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25bd26f0f48d33c63a5c44dd59f7ca5a9eecfab8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-58-6_932026304/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 964.3556457623586, + 349.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 964.3556457623586, + 352.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 964.3556457623586, + 355.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 964.3556457623586, + 358.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 964.3556457623586, + 361.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 964.3556457623586, + 364.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 964.3556457623586, + 367.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 964.3556457623586, + 370.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 964.3556457623586, + 373.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 964.3556457623586, + 376.34047840844073, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 964.3556457623586, + 376.34047840844073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 962.8556457623586, + 378.93855461979405, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 961.3556457623586, + 381.53663083114736, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-0-23_816504794/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-0-23_816504794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de572f7fd2c04c55d9e704627f5dbe4557095073 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-0-23_816504794/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1935.1554259841007, + -12.416270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1932.5573497727473, + -10.916270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1929.959273561394, + -9.416270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1927.3611973500406, + -7.916270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1924.7631211386872, + -6.416270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1922.1650449273338, + -4.916270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1919.5669687159805, + -3.416270324194599, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1916.968892504627, + -1.9162703241945993, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1914.3708162932737, + -0.41627032419459953, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1911.7727400819203, + 1.0837296758054002, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1909.174663870567, + 2.5837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1906.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1906.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1903.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1900.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1897.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1894.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1891.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1888.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1885.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1882.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1879.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1876.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1873.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1873.5765876592136, + 4.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1870.9785114478602, + 5.5837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1868.3804352365069, + 7.0837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1865.7823590251535, + 8.5837296758054, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1863.1842828138, + 10.0837296758054, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991504 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-14-50_400000569/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-14-50_400000569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0b9cfbf53aa771bd55027a6f0190caa113ea23 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-14-50_400000569/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 873.8378386348742, + 93.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 871.2397624235209, + 94.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.6416862121675, + 96.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 866.0436100008142, + 97.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 863.4455337894608, + 99.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 860.8474575781074, + 100.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 858.249381366754, + 102.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 855.6513051554007, + 103.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 853.0532289440473, + 105.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 850.4551527326939, + 106.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 847.8570765213406, + 108.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 845.2590003099872, + 109.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 842.6609240986338, + 111.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 840.0628478872804, + 112.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 837.4647716759271, + 114.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 834.8666954645737, + 115.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 832.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 832.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 826.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 823.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 820.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 817.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 814.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 811.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 808.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 805.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 802.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 802.2686192532203, + 117.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 799.670543041867, + 118.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 797.0724668305136, + 120.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 794.4743906191602, + 121.53642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 791.8763144078068, + 123.03642378976785, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 791.8763144078068, + 123.03642378976785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 790.3763144078068, + 125.63450000112117, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 760.0, + 140.0, + -29.3651 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-17-17_1516266761/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-17-17_1516266761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f41687adf03d4462c71e33f9730e0b4124c0d77 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-17-17_1516266761/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 627.2898952484285, + 370.2747469985195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 628.7898952484285, + 367.6766707871662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 630.2898952484285, + 365.0785945758129, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 631.7898952484285, + 362.48051836445956, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 633.2898952484285, + 359.88244215310624, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 634.7898952484285, + 357.2843659417529, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 636.2898952484285, + 354.6862897303996, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.7898952484285, + 352.0882135190463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 639.2898952484285, + 349.490137307693, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 640.7898952484285, + 346.89206109633966, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 642.2898952484285, + 344.29398488498634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 643.7898952484285, + 341.695908673633, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 645.2898952484285, + 339.0978324622797, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 646.7898952484285, + 336.4997562509264, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 648.2898952484285, + 333.9016800395731, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 649.7898952484285, + 331.30360382821976, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 651.2898952484285, + 328.70552761686645, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 652.7898952484285, + 326.10745140551313, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 654.2898952484285, + 323.5093751941598, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 655.7898952484285, + 320.9112989828065, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 657.2898952484285, + 318.3132227714532, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 658.7898952484285, + 315.71514656009987, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 660.2898952484285, + 313.11707034874655, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 660.2898952484285, + 313.11707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 662.8879714597817, + 311.61707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 665.4860476711351, + 310.11707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 668.0841238824885, + 308.61707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 670.6822000938419, + 307.11707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 673.2802763051952, + 305.61707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 675.8783525165486, + 304.11707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 678.476428727902, + 302.61707034874655, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 681.0745049392553, + 301.11707034874655, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-24-31_1369602726/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-24-31_1369602726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70011fb989430a4af395c8412bdf91288b54c5ae --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-24-31_1369602726/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 286.8861945109421, + 292.1952314592506, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.3861945109421, + 289.59715524789726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 289.8861945109421, + 286.99907903654395, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 291.3861945109421, + 284.40100282519063, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.8861945109421, + 281.8029266138373, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 294.3861945109421, + 279.204850402484, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 295.8861945109421, + 276.6067741911307, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 295.8861945109421, + 276.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 295.8861945109421, + 273.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.8861945109421, + 270.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.8861945109421, + 267.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 295.8861945109421, + 264.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.8861945109421, + 261.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.8861945109421, + 258.6067741911307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.8861945109421, + 255.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.8861945109421, + 252.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.8861945109421, + 249.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.8861945109421, + 246.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 295.8861945109421, + 243.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 295.8861945109421, + 240.60677419113068, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 295.8861945109421, + 240.60677419113068, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 295.8861945109421, + 240.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 298.48427072229543, + 239.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 301.08234693364875, + 237.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.68042314500207, + 236.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 306.2784993563554, + 234.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.8765755677087, + 233.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.474651779062, + 231.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.07272799041533, + 230.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 316.67080420176865, + 228.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 319.26888041312196, + 227.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 321.8669566244753, + 225.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 324.4650328358286, + 224.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 327.0631090471819, + 222.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 329.6611852585352, + 221.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 332.25926146988854, + 219.60677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 334.85733768124186, + 218.10677419113068, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 334.85733768124186, + 218.10677419113068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 336.35733768124186, + 215.50869797977737, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 337.85733768124186, + 212.91062176842405, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 339.35733768124186, + 210.31254555707073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 340.85733768124186, + 207.71446934571742, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 342.35733768124186, + 205.1163931343641, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 343.85733768124186, + 202.5183169230108, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 345.35733768124186, + 199.92024071165747, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 346.85733768124186, + 197.32216450030415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 348.35733768124186, + 194.72408828895084, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 349.85733768124186, + 192.12601207759752, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 351.35733768124186, + 189.5279358662442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 352.85733768124186, + 186.9298596548909, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 354.35733768124186, + 184.33178344353757, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-28-42_885799631/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-28-42_885799631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a59dc4ce604bfa477c8575cdeb1b0ed8eded73f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-28-42_885799631/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1134.0270733953337, + 72.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1131.4289971839803, + 74.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1128.830920972627, + 75.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1126.2328447612736, + 77.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1123.6347685499202, + 78.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1121.0366923385668, + 80.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1118.4386161272134, + 81.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1115.84053991586, + 83.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1113.2424637045067, + 84.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1110.6443874931533, + 86.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1108.0463112818, + 87.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1105.4482350704466, + 89.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1102.8501588590932, + 90.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1100.2520826477398, + 92.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1097.6540064363865, + 93.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1095.055930225033, + 95.2414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1092.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1092.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1089.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1086.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1083.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1080.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1077.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1077.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1077.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1077.4578540136797, + 96.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1077.4578540136797, + 99.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1077.4578540136797, + 102.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1077.4578540136797, + 105.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1077.4578540136797, + 108.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1077.4578540136797, + 111.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1077.4578540136797, + 114.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1077.4578540136797, + 117.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1077.4578540136797, + 120.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1077.4578540136797, + 123.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1077.4578540136797, + 126.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1077.4578540136797, + 129.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1077.4578540136797, + 132.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1077.4578540136797, + 135.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1077.4578540136797, + 138.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1077.4578540136797, + 141.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1077.4578540136797, + 144.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1077.4578540136797, + 147.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1077.4578540136797, + 150.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1077.4578540136797, + 153.7414648899076, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1077.4578540136797, + 153.7414648899076, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1077.4578540136797, + 153.7414648899076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1074.8597778023263, + 155.2414648899076, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 188.0, + -34.1451 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-3-49_1387036159/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-3-49_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44535df56709be04e403c35d5e701d3be9c663c9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-3-49_1387036159/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 47.62957520793147, + -259.25339886295035, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 46.12957520793147, + -256.65532265159703, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 44.62957520793147, + -254.05724644024372, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 43.12957520793147, + -251.4591702288904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 41.62957520793147, + -248.86109401753708, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 40.12957520793147, + -246.26301780618377, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 38.62957520793147, + -243.66494159483045, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.12957520793147, + -241.06686538347714, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 35.62957520793147, + -238.46878917212382, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 34.12957520793147, + -235.8707129607705, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 32.62957520793147, + -233.2726367494172, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 32.62957520793147, + -233.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 32.62957520793147, + -230.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 32.62957520793147, + -227.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 32.62957520793147, + -224.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 32.62957520793147, + -221.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 32.62957520793147, + -218.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 32.62957520793147, + -215.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 32.62957520793147, + -212.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 32.62957520793147, + -209.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 32.62957520793147, + -206.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.62957520793147, + -203.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 32.62957520793147, + -200.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 32.62957520793147, + -197.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 32.62957520793147, + -194.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 32.62957520793147, + -191.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 32.62957520793147, + -188.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.62957520793147, + -185.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 32.62957520793147, + -182.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 32.62957520793147, + -179.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 32.62957520793147, + -176.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 32.62957520793147, + -173.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 32.62957520793147, + -170.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.62957520793147, + -167.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.62957520793147, + -164.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.62957520793147, + -161.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 32.62957520793147, + -158.2726367494172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.62957520793147, + -155.2726367494172, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 28.0, + -128.0, + -29.9979 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-30-31_1243439214/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-30-31_1243439214/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af9958b696b9b00aafc769511ea0c372a8910629 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-30-31_1243439214/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.83723539248444, + -167.45794267064855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.33723539248444, + -164.85986645929523, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 254.83723539248444, + -162.26179024794192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 256.33723539248444, + -159.6637140365886, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.83723539248444, + -157.06563782523529, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 259.33723539248444, + -154.46756161388197, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.83723539248444, + -151.86948540252865, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.33723539248444, + -149.27140919117534, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.83723539248444, + -146.67333297982202, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.33723539248444, + -144.0752567684687, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.83723539248444, + -141.4771805571154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.33723539248444, + -138.87910434576207, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.83723539248444, + -136.28102813440876, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 271.33723539248444, + -133.68295192305544, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 272.83723539248444, + -131.08487571170213, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 274.33723539248444, + -128.4867995003488, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 275.83723539248444, + -125.8887232889955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 277.33723539248444, + -123.29064707764218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.83723539248444, + -120.69257086628886, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 280.33723539248444, + -118.09449465493554, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 281.83723539248444, + -115.49641844358223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.33723539248444, + -112.89834223222891, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 284.83723539248444, + -110.3002660208756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 286.33723539248444, + -107.70218980952228, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 287.83723539248444, + -105.10411359816896, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 289.33723539248444, + -102.50603738681565, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 289.33723539248444, + -102.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 289.33723539248444, + -99.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 289.33723539248444, + -96.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 289.33723539248444, + -93.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 289.33723539248444, + -90.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 289.33723539248444, + -87.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 289.33723539248444, + -84.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 289.33723539248444, + -81.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 289.33723539248444, + -78.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.33723539248444, + -75.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 289.33723539248444, + -72.50603738681565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 289.33723539248444, + -69.50603738681565, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -44.0, + 1.41541 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-33-58_826047641/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-33-58_826047641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e89fe1cb003247ddc079c31ece7b4d4ffec0bea4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-33-58_826047641/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1299.5092404423704, + -320.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1296.911164231017, + -318.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1294.3130880196636, + -317.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1291.7150118083102, + -315.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1289.1169355969569, + -314.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1286.5188593856035, + -312.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1283.9207831742501, + -311.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1281.3227069628967, + -309.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1278.7246307515434, + -308.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1276.12655454019, + -306.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1273.5284783288366, + -305.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1270.9304021174833, + -303.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1268.3323259061299, + -302.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1265.7342496947765, + -300.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1263.1361734834231, + -299.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1260.5380972720698, + -297.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1257.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1257.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1254.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1251.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1248.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1245.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1242.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1242.9400210607164, + -296.1558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1240.341944849363, + -294.6558739806019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1237.7438686380096, + -293.1558739806019, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1192.0, + -272.0, + -29.3198 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-12_1025125849/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-12_1025125849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec60c4b4dd4acab2c59ed4140b2c7d322679d82b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-12_1025125849/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1057.804518704683, + 655.1803118820234, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1059.304518704683, + 652.5822356706701, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1060.804518704683, + 649.9841594593167, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1062.304518704683, + 647.3860832479634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1063.804518704683, + 644.78800703661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1065.304518704683, + 642.1899308252566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1066.804518704683, + 639.5918546139033, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1068.304518704683, + 636.9937784025499, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1069.804518704683, + 634.3957021911965, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1071.304518704683, + 631.7976259798431, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1072.804518704683, + 629.1995497684898, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1074.304518704683, + 626.6014735571364, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1075.804518704683, + 624.003397345783, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1077.304518704683, + 621.4053211344296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1078.804518704683, + 618.8072449230763, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1080.304518704683, + 616.2091687117229, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1081.804518704683, + 613.6110925003695, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1083.304518704683, + 611.0130162890162, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1084.804518704683, + 608.4149400776628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1086.304518704683, + 605.8168638663094, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1087.804518704683, + 603.218787654956, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1089.304518704683, + 600.6207114436027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1090.804518704683, + 598.0226352322493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1092.304518704683, + 595.4245590208959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1093.804518704683, + 592.8264828095425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1095.304518704683, + 590.2284065981892, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1095.304518704683, + 590.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1095.304518704683, + 587.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1095.304518704683, + 584.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1095.304518704683, + 581.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1095.304518704683, + 578.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1095.304518704683, + 575.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1095.304518704683, + 572.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1095.304518704683, + 569.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1095.304518704683, + 566.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1095.304518704683, + 563.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1095.304518704683, + 560.2284065981892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1095.304518704683, + 557.2284065981892, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1104.0, + 540.0, + -27.1264 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-39-31_1376035217/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-39-31_1376035217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9b97445da4895a89379c0c08a455862802f6776 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-39-31_1376035217/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 799.5866837185358, + 631.7747046643816, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 801.0866837185358, + 629.1766284530283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 802.5866837185358, + 626.578552241675, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 804.0866837185358, + 623.9804760303216, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 805.5866837185358, + 621.3823998189682, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 807.0866837185358, + 618.7843236076149, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 808.5866837185358, + 616.1862473962615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 810.0866837185358, + 613.5881711849081, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 811.5866837185358, + 610.9900949735547, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 813.0866837185358, + 608.3920187622014, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 814.5866837185358, + 605.793942550848, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 816.0866837185358, + 603.1958663394946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 817.5866837185358, + 600.5977901281412, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 819.0866837185358, + 597.9997139167879, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 820.5866837185358, + 595.4016377054345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 822.0866837185358, + 592.8035614940811, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 823.5866837185358, + 590.2054852827278, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 825.0866837185358, + 587.6074090713744, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 826.5866837185358, + 585.009332860021, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 828.0866837185358, + 582.4112566486676, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 829.5866837185358, + 579.8131804373143, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 831.0866837185358, + 577.2151042259609, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 832.5866837185358, + 574.6170280146075, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 834.0866837185358, + 572.0189518032541, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 835.5866837185358, + 569.4208755919008, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 837.0866837185358, + 566.8227993805474, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 838.5866837185358, + 564.224723169194, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 838.5866837185358, + 564.224723169194, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 838.5866837185358, + 561.224723169194, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 838.5866837185358, + 558.224723169194, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + 540.0, + -33.4364 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-4-10_12895151/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-4-10_12895151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97d9274f74f2fc5d391024c1db784c5f3f36637b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-4-10_12895151/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 994.6188670725974, + 1081.8502787106506, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 993.1188670725974, + 1079.2522024992973, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 991.6188670725974, + 1076.6541262879439, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 990.1188670725974, + 1074.0560500765905, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 988.6188670725974, + 1071.4579738652371, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 987.1188670725974, + 1068.8598976538838, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 985.6188670725974, + 1066.2618214425304, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 984.1188670725974, + 1063.663745231177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 982.6188670725974, + 1061.0656690198236, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 981.1188670725974, + 1058.4675928084703, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 979.6188670725974, + 1055.869516597117, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 978.1188670725974, + 1053.2714403857635, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 976.6188670725974, + 1050.6733641744102, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 976.6188670725974, + 1050.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 976.6188670725974, + 1047.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 976.6188670725974, + 1044.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 976.6188670725974, + 1041.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 976.6188670725974, + 1038.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 976.6188670725974, + 1035.6733641744102, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 976.6188670725974, + 1035.6733641744102, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 975.1188670725974, + 1033.0752879630568, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 973.6188670725974, + 1030.4772117517034, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 972.1188670725974, + 1027.87913554035, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 970.6188670725974, + 1025.2810593289967, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 969.1188670725974, + 1022.6829831176433, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 967.6188670725974, + 1020.0849069062899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 966.1188670725974, + 1017.4868306949365, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 964.6188670725974, + 1014.8887544835832, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 963.1188670725974, + 1012.2906782722298, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 961.6188670725974, + 1009.6926020608764, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 960.1188670725974, + 1007.094525849523, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 988.0, + 1.64774 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-43-2_2045826607/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-43-2_2045826607/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eb50150b9a504c085040c671094b637dcbfc014 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-43-2_2045826607/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.92992238190067, + 387.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.92992238190067, + 390.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -141.92992238190067, + 393.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.92992238190067, + 396.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -141.92992238190067, + 399.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.92992238190067, + 402.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -141.92992238190067, + 405.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -141.92992238190067, + 408.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.92992238190067, + 411.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -141.92992238190067, + 414.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.92992238190067, + 417.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.92992238190067, + 420.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -141.92992238190067, + 423.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -141.92992238190067, + 426.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.92992238190067, + 429.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.92992238190067, + 432.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.92992238190067, + 435.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.92992238190067, + 438.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.92992238190067, + 441.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.92992238190067, + 444.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.92992238190067, + 447.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.92992238190067, + 450.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -141.92992238190067, + 453.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -141.92992238190067, + 456.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.92992238190067, + 459.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -141.92992238190067, + 462.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -141.92992238190067, + 465.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -141.92992238190067, + 468.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -141.92992238190067, + 471.8758101038345, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.92992238190067, + 471.8758101038345, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -141.92992238190067, + 471.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.52799859325398, + 473.3758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -147.1260748046073, + 474.8758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -149.72415101596062, + 476.3758101038345, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -149.72415101596062, + 476.3758101038345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.22415101596062, + 478.9738863151878, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -152.72415101596062, + 481.57196252654114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -154.22415101596062, + 484.17003873789446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -155.72415101596062, + 486.7681149492478, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -157.22415101596062, + 489.3661911606011, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -160.0, + 516.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-48_864101839/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-48_864101839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aebf3ebbc5bed793df6b687c544051ed29951b65 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-48_864101839/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1900.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1903.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1906.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1909.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1912.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1915.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1918.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1921.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1924.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1927.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1930.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1933.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1936.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1939.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1942.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1945.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1945.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1945.7689041715053, + 390.1192145449453, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1947.2689041715053, + 387.521138333592, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1948.7689041715053, + 384.92306212223866, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1950.2689041715053, + 382.32498591088535, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1951.7689041715053, + 379.72690969953203, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1953.2689041715053, + 377.1288334881787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1954.7689041715053, + 374.5307572768254, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1956.2689041715053, + 371.9326810654721, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1957.7689041715053, + 369.33460485411877, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1957.7689041715053, + 369.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1957.7689041715053, + 366.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1957.7689041715053, + 363.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1957.7689041715053, + 360.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1957.7689041715053, + 357.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1957.7689041715053, + 354.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1957.7689041715053, + 351.33460485411877, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1957.7689041715053, + 351.33460485411877, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1957.7689041715053, + 351.33460485411877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1960.3669803828586, + 349.83460485411877, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-9_2069110699/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-9_2069110699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72e6f6b39496c93dd58db672a10398cb86a11e50 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-49-9_2069110699/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1626.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1623.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1620.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1617.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1614.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1611.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1608.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1605.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1602.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1599.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1596.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1593.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1590.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1587.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1584.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1581.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1578.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1575.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1572.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1569.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1566.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1563.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1560.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1557.4242388674418, + 808.656743409486, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 808.0, + -15.72 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-5-29_1380171692/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-5-29_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e53bc0d99795213e2543e1f0cf8e63aea5939dd5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-5-29_1380171692/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 807.5054568531626, + 1013.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 804.9073806418094, + 1014.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 802.309304430456, + 1016.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 799.7112282191026, + 1017.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 797.1131520077492, + 1019.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 794.5150757963959, + 1020.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 791.9169995850425, + 1022.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 789.3189233736891, + 1023.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 786.7208471623358, + 1025.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 784.1227709509824, + 1026.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 781.524694739629, + 1028.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 778.9266185282756, + 1029.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 776.3285423169223, + 1031.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 773.7304661055689, + 1032.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 771.1323898942155, + 1034.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 768.5343136828621, + 1035.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 765.9362374715088, + 1037.1951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 763.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 763.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 760.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 757.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 754.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 751.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 748.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 745.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 742.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 739.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 736.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 733.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 730.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 727.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 724.3381612601554, + 1038.6951920413196, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1048.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-54-51_1272796157/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-54-51_1272796157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d77f5764533f75ac8da9e2c8e1e5100de50a92cd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-54-51_1272796157/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 879.9699884323832, + -362.1987773099588, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 878.4699884323832, + -359.6007010986055, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 876.9699884323832, + -357.0026248872522, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 875.4699884323832, + -354.40454867589887, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 873.9699884323832, + -351.80647246454555, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 872.4699884323832, + -349.20839625319223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 870.9699884323832, + -346.6103200418389, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 869.4699884323832, + -344.0122438304856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 867.9699884323832, + -341.4141676191323, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 866.4699884323832, + -338.81609140777897, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 864.9699884323832, + -336.21801519642565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 863.4699884323832, + -333.61993898507234, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 861.9699884323832, + -331.021862773719, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 860.4699884323832, + -328.4237865623657, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 858.9699884323832, + -325.8257103510124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 857.4699884323832, + -323.2276341396591, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 855.9699884323832, + -320.62955792830576, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 854.4699884323832, + -318.03148171695244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 852.9699884323832, + -315.4334055055991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 851.4699884323832, + -312.8353292942458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 849.9699884323832, + -310.2372530828925, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.9699884323832, + -310.2372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 847.3719122210298, + -308.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 844.7738360096764, + -307.2372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 842.175759798323, + -305.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 839.5776835869697, + -304.2372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 836.9796073756163, + -302.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 834.3815311642629, + -301.2372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 831.7834549529096, + -299.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 829.1853787415562, + -298.2372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 826.5873025302028, + -296.7372530828925, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 826.5873025302028, + -296.7372530828925, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 826.5873025302028, + -296.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 826.5873025302028, + -293.7372530828925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 826.5873025302028, + -290.7372530828925, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-8-39_136495343/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-8-39_136495343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..622a5999f083357005c133f77dd491eef915cc5f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-8-39_136495343/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 990.8375972252961, + 324.17833285377645, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.3375972252961, + 321.58025664242314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 993.8375972252961, + 318.9821804310698, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 995.3375972252961, + 316.3841042197165, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.8375972252961, + 313.7860280083632, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 998.3375972252961, + 311.1879517970099, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 999.8375972252961, + 308.58987558565656, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1001.3375972252961, + 305.99179937430324, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1002.8375972252961, + 303.3937231629499, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1004.3375972252961, + 300.7956469515966, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1005.8375972252961, + 298.1975707402433, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1007.3375972252961, + 295.59949452889, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1008.8375972252961, + 293.00141831753666, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1010.3375972252961, + 290.40334210618335, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1011.8375972252961, + 287.80526589483003, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1013.3375972252961, + 285.2071896834767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1014.8375972252961, + 282.6091134721234, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1016.3375972252961, + 280.0110372607701, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1017.8375972252961, + 277.41296104941677, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1019.3375972252961, + 274.81488483806345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1020.8375972252961, + 272.21680862671013, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1022.3375972252961, + 269.6187324153568, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1023.8375972252961, + 267.0206562040035, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1025.3375972252961, + 264.4225799926502, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1026.8375972252961, + 261.82450378129687, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1028.3375972252961, + 259.22642756994355, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1029.8375972252961, + 256.62835135859024, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1031.3375972252961, + 254.03027514723692, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1032.8375972252961, + 251.4321989358836, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1034.3375972252961, + 248.8341227245303, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1035.8375972252961, + 246.23604651317697, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1037.3375972252961, + 243.63797030182366, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1038.8375972252961, + 241.03989409047034, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1040.3375972252961, + 238.44181787911702, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1041.8375972252961, + 235.8437416677637, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1043.3375972252961, + 233.2456654564104, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1043.3375972252961, + 233.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1043.3375972252961, + 230.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1043.3375972252961, + 227.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1043.3375972252961, + 224.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1043.3375972252961, + 221.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1043.3375972252961, + 218.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1043.3375972252961, + 215.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1043.3375972252961, + 212.2456654564104, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1043.3375972252961, + 209.2456654564104, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + 188.0, + -34.1451 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-27-44_551836836/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-27-44_551836836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b2331dfa0128a96b44fb2bdb069ef2d0c735edd --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-27-44_551836836/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1518.3249801614757, + 334.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1521.3249801614757, + 334.5221313858101, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1521.3249801614757, + 334.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.923056372829, + 336.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.5211325841824, + 337.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1529.1192087955358, + 339.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1531.7172850068891, + 340.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.3153612182425, + 342.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1536.913437429596, + 343.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1539.5115136409493, + 345.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1542.1095898523026, + 346.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1544.707666063656, + 348.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1547.3057422750094, + 349.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1549.9038184863628, + 351.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1552.5018946977161, + 352.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1555.0999709090695, + 354.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1557.6980471204229, + 355.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1560.2961233317762, + 357.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1562.8941995431296, + 358.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1565.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1565.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1568.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1571.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1574.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1577.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1580.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1583.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1586.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1589.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1592.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1595.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1598.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1601.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1604.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1607.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1610.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1613.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1616.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1619.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1622.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1622.492275754483, + 360.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1625.0903519658364, + 358.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1627.6884281771897, + 357.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1630.286504388543, + 355.5221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1632.8845805998965, + 354.0221313858101, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1635.4826568112499, + 352.5221313858101, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + 352.0, + -33.5621 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-16_1751378130/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-16_1751378130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cca70d1e294df9279fe268b9dc776adfe8426fdc --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-16_1751378130/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1916.5768233251536, + 321.26241903855583, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1918.0768233251536, + 318.6643428272025, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1919.5768233251536, + 316.0662666158492, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1921.0768233251536, + 313.4681904044959, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1921.0768233251536, + 313.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1921.0768233251536, + 310.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1921.0768233251536, + 307.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1921.0768233251536, + 304.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1921.0768233251536, + 301.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1921.0768233251536, + 298.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1921.0768233251536, + 295.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1921.0768233251536, + 292.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1921.0768233251536, + 289.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1921.0768233251536, + 286.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1921.0768233251536, + 283.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1921.0768233251536, + 280.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1921.0768233251536, + 277.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1921.0768233251536, + 274.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1921.0768233251536, + 271.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1921.0768233251536, + 268.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1921.0768233251536, + 265.4681904044959, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1921.0768233251536, + 265.4681904044959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1922.5768233251536, + 262.87011419314257, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1924.0768233251536, + 260.27203798178925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1925.5768233251536, + 257.67396177043594, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1927.0768233251536, + 255.07588555908262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1928.5768233251536, + 252.4778093477293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1930.0768233251536, + 249.879733136376, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1931.5768233251536, + 247.28165692502267, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1933.0768233251536, + 244.68358071366936, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1934.5768233251536, + 242.08550450231604, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1936.0768233251536, + 239.48742829096273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1937.5768233251536, + 236.8893520796094, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1939.0768233251536, + 234.2912758682561, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1940.5768233251536, + 231.69319965690278, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1942.0768233251536, + 229.09512344554946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1943.5768233251536, + 226.49704723419615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1945.0768233251536, + 223.89897102284283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1946.5768233251536, + 221.3008948114895, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1948.0768233251536, + 218.7028186001362, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1949.5768233251536, + 216.10474238878288, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1951.0768233251536, + 213.50666617742957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1952.5768233251536, + 210.90858996607625, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1960.0, + 188.0, + -8.00906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-32-47_2000419805/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-32-47_2000419805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4f881ff43d12e3ea6a476abef3ce58d5c2b94a3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-32-47_2000419805/pose.jsonl @@ -0,0 +1,925 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 792.3267897842322, + -100.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 792.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 792.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 792.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 792.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 789.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 786.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 783.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 777.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 777.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 777.3267897842322, + -97.3728937406767, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 775.8267897842322, + -94.77481752932339, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 775.8267897842322, + -94.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 775.8267897842322, + -91.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.8267897842322, + -88.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 775.8267897842322, + -85.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 775.8267897842322, + -82.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 775.8267897842322, + -79.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 775.8267897842322, + -76.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 775.8267897842322, + -73.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 775.8267897842322, + -70.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 775.8267897842322, + -67.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 775.8267897842322, + -64.77481752932339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 775.8267897842322, + -61.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 775.8267897842322, + -58.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 775.8267897842322, + -55.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 775.8267897842322, + -52.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 775.8267897842322, + -49.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 775.8267897842322, + -46.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 775.8267897842322, + -43.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 775.8267897842322, + -40.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 775.8267897842322, + -37.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 775.8267897842322, + -34.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 775.8267897842322, + -31.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 775.8267897842322, + -28.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 775.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 775.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 775.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 775.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 778.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 781.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 784.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 787.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 790.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 793.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 796.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 799.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 802.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 805.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 808.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 811.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 814.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 817.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 820.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 823.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 826.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 829.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 832.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 835.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 838.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 841.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 844.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 847.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 850.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 850.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 850.8267897842322, + -25.774817529323386, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 852.3267897842322, + -23.17674131797007, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 853.8267897842322, + -20.578665106616754, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 855.3267897842322, + -17.980588895263438, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + 4.0, + -27.3656 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-37-13_1630387677/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-37-13_1630387677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9132c5308c3f84e6af317f7298e2f16f50d06e04 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-37-13_1630387677/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1649.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1652.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1655.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1658.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1661.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1664.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1667.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1670.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1673.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1676.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1679.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1682.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1685.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1685.297028917523, + 209.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1687.8951051288764, + 207.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1690.4931813402297, + 206.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1693.091257551583, + 204.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1695.6893337629365, + 203.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1698.2874099742899, + 201.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1700.8854861856432, + 200.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1703.4835623969966, + 198.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1706.08163860835, + 197.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1708.6797148197033, + 195.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1711.2777910310567, + 194.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1713.87586724241, + 192.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1716.4739434537635, + 191.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1719.0720196651168, + 189.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1721.6700958764702, + 188.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1724.2681720878236, + 186.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1726.866248299177, + 185.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1729.4643245105303, + 183.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1732.0624007218837, + 182.25736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1734.660476933237, + 180.75736771819496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1737.2585531445905, + 179.25736771819496, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 172.0, + 0.929306 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-35_94307398/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-35_94307398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72e4356c089c7c1f288d40865c44f0455ad2368e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-35_94307398/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1869.1767480155086, + 263.83851707076946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1870.6767480155086, + 266.43659328212277, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1872.1767480155086, + 269.0346694934761, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1873.6767480155086, + 271.6327457048294, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1875.1767480155086, + 274.2308219161827, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1876.6767480155086, + 276.82889812753604, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1878.1767480155086, + 279.42697433888935, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1879.6767480155086, + 282.02505055024267, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1881.1767480155086, + 284.623126761596, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1882.6767480155086, + 287.2212029729493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1884.1767480155086, + 289.8192791843026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1885.6767480155086, + 292.41735539565593, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1887.1767480155086, + 295.01543160700925, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1888.6767480155086, + 297.61350781836256, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1890.1767480155086, + 300.2115840297159, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1891.6767480155086, + 302.8096602410692, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1893.1767480155086, + 305.4077364524225, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1894.6767480155086, + 308.0058126637758, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1896.1767480155086, + 310.60388887512914, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1897.6767480155086, + 313.20196508648246, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1899.1767480155086, + 315.8000412978358, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1900.6767480155086, + 318.3981175091891, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1902.1767480155086, + 320.9961937205424, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1903.6767480155086, + 323.5942699318957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1905.1767480155086, + 326.19234614324904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1906.6767480155086, + 328.79042235460236, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1908.1767480155086, + 331.3884985659557, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1909.6767480155086, + 333.986574777309, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-4_738647283/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-4_738647283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb75bfec2722b262d101eb90561f285771452ba5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-43-4_738647283/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 832.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 835.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 838.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 841.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 844.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 847.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 850.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 853.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 856.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 862.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 865.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 868.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 868.8540183926618, + 332.06214404085904, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 870.3540183926618, + 329.4640678295057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 871.8540183926618, + 326.8659916181524, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 873.3540183926618, + 324.2679154067991, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 873.3540183926618, + 324.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 875.9520946040152, + 322.7679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 878.5501708153686, + 321.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 881.148247026722, + 319.7679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 883.7463232380753, + 318.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.3443994494287, + 316.7679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 888.9424756607821, + 315.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 891.5405518721354, + 313.7679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 894.1386280834888, + 312.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 896.7367042948422, + 310.7679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 899.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 899.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 902.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 905.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 908.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 911.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 914.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 917.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 920.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 923.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 923.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 923.3347805061956, + 309.2679154067991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 924.8347805061956, + 306.6698391954458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 926.3347805061956, + 304.07176298409246, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 927.8347805061956, + 301.47368677273914, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 929.3347805061956, + 298.8756105613858, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 944.0, + 292.0, + 1.52855 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-46-29_1003886059/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-46-29_1003886059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca851d364902e4ecd12e919c0eb6044337a3a9db --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-46-29_1003886059/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 457.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 460.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 463.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 466.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 469.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 472.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 475.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 478.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 481.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 484.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 487.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 496.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 499.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 502.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 505.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 508.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 511.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 514.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 517.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 520.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 523.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 523.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 523.7107017890013, + -246.28809944263722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 525.2107017890013, + -243.6900232312839, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 526.7107017890013, + -241.0919470199306, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 528.2107017890013, + -238.49387080857727, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 529.7107017890013, + -235.89579459722395, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 531.2107017890013, + -233.29771838587064, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 532.7107017890013, + -230.69964217451732, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 532.7107017890013, + -230.69964217451732, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 535.3087780003546, + -229.19964217451732, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 537.9068542117079, + -227.69964217451732, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 540.5049304230613, + -226.19964217451732, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 543.1030066344147, + -224.69964217451732, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-47-49_1982945082/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-47-49_1982945082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bae11ae3f0c7f11f51e93517e49bf793992a60f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-47-49_1982945082/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 995.1157520173861, + 930.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.5176758060327, + 931.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 989.9195995946793, + 933.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 987.3215233833259, + 934.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 984.7234471719726, + 936.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 982.1253709606192, + 937.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 979.5272947492658, + 939.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 976.9292185379124, + 940.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 974.3311423265591, + 942.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 971.7330661152057, + 943.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 969.1349899038523, + 945.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 966.536913692499, + 946.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 963.9388374811456, + 948.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 961.3407612697922, + 949.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 958.7426850584388, + 951.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 956.1446088470855, + 952.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 953.5465326357321, + 954.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 950.9484564243787, + 955.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 948.3503802130253, + 957.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 945.752304001672, + 958.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 943.1542277903186, + 960.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 940.5561515789652, + 961.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 937.9580753676119, + 963.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 935.3599991562585, + 964.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 932.7619229449051, + 966.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 930.1638467335517, + 967.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 927.5657705221984, + 969.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 924.967694310845, + 970.9450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 922.3696180994916, + 972.4450517778057, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 922.3696180994916, + 972.4450517778057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 920.8696180994916, + 975.0431279891591, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 919.3696180994916, + 977.6412042005124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 917.8696180994916, + 980.2392804118658, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 916.3696180994916, + 982.8373566232192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 914.8696180994916, + 985.4354328345726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 913.3696180994916, + 988.0335090459259, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 911.8696180994916, + 990.6315852572793, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 910.3696180994916, + 993.2296614686327, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1012.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-50-55_356684278/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-50-55_356684278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..591adbc4b4948a3fc28bca15fbd46f31101022e9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-50-55_356684278/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 934.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 937.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 940.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 943.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 946.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 949.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 952.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 955.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 958.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 961.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 964.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 967.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 970.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 973.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 976.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 979.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 982.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 985.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 988.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 991.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 994.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 997.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1000.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1003.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1006.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1009.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1012.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1012.3911905281584, + -200.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1014.9892667395118, + -201.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1017.5873429508651, + -203.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1020.1854191622185, + -204.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1022.7834953735719, + -206.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1025.3815715849253, + -207.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1027.9796477962786, + -209.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1030.577724007632, + -210.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1033.1758002189854, + -212.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1035.7738764303388, + -213.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1038.3719526416921, + -215.34386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1040.9700288530455, + -216.84386792859416, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1043.5681050643989, + -218.34386792859416, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1064.0, + -220.0, + -28.0272 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-52-45_1242561041/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-52-45_1242561041/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2229d9e2d2c861407e03f3e288d3c2c1a2623d9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-52-45_1242561041/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1794.1001002323728, + 0.8371183796057124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1794.1001002323728, + 3.8371183796057124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1794.1001002323728, + 6.8371183796057124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1794.1001002323728, + 9.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1794.1001002323728, + 12.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1794.1001002323728, + 15.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1794.1001002323728, + 18.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1794.1001002323728, + 21.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1794.1001002323728, + 24.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1794.1001002323728, + 27.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1794.1001002323728, + 30.837118379605712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1794.1001002323728, + 33.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1794.1001002323728, + 36.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1794.1001002323728, + 39.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1794.1001002323728, + 42.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1794.1001002323728, + 45.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1794.1001002323728, + 48.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1794.1001002323728, + 51.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1794.1001002323728, + 54.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1794.1001002323728, + 57.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1794.1001002323728, + 60.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1794.1001002323728, + 63.83711837960571, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1794.1001002323728, + 63.83711837960571, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1794.1001002323728, + 63.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1791.5020240210195, + 65.33711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1788.903947809666, + 66.83711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1786.3058715983127, + 68.33711837960571, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1786.3058715983127, + 68.33711837960571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1784.8058715983127, + 70.93519459095903, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1783.3058715983127, + 73.53327080231234, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1781.8058715983127, + 76.13134701366566, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 120.0, + -7.2498 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-0-39_1404515797/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-0-39_1404515797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efbee75e131f33b4e7a4fd722352fd44f121b913 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-0-39_1404515797/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.4082045147186, + 330.0432910831911, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 406.4082045147186, + 333.0432910831911, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.4082045147186, + 336.0432910831911, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 406.4082045147186, + 339.0432910831911, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 406.4082045147186, + 342.0432910831911, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 420.0, + 436.0, + -29.9977 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-24-9_1669475776/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-24-9_1669475776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfda8937da6ebb56a47c0efa76909b782b55e5d3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-24-9_1669475776/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 625.7516181735391, + 273.33947026913677, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 627.2516181735391, + 275.9375464804901, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 628.7516181735391, + 278.5356226918434, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 630.2516181735391, + 281.1336989031967, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 631.7516181735391, + 283.73177511455003, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 633.2516181735391, + 286.32985132590335, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 634.7516181735391, + 288.92792753725666, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 636.2516181735391, + 291.52600374861, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 637.7516181735391, + 294.1240799599633, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 639.2516181735391, + 296.7221561713166, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 640.7516181735391, + 299.32023238266993, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 642.2516181735391, + 301.91830859402324, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 643.7516181735391, + 304.51638480537656, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 645.2516181735391, + 307.1144610167299, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 646.7516181735391, + 309.7125372280832, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 648.2516181735391, + 312.3106134394365, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 649.7516181735391, + 314.9086896507898, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 651.2516181735391, + 317.50676586214314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 652.7516181735391, + 320.10484207349646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 654.2516181735391, + 322.7029182848498, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 655.7516181735391, + 325.3009944962031, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 657.2516181735391, + 327.8990707075564, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 658.7516181735391, + 330.4971469189097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 660.2516181735391, + 333.09522313026304, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 661.7516181735391, + 335.69329934161635, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 663.2516181735391, + 338.29137555296967, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 664.7516181735391, + 340.889451764323, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 666.2516181735391, + 343.4875279756763, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 667.7516181735391, + 346.0856041870296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 669.2516181735391, + 348.68368039838293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 670.7516181735391, + 351.28175660973625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 672.2516181735391, + 353.87983282108956, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 673.7516181735391, + 356.4779090324429, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 675.2516181735391, + 359.0759852437962, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 676.7516181735391, + 361.6740614551495, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 678.2516181735391, + 364.27213766650283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 679.7516181735391, + 366.87021387785614, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 681.2516181735391, + 369.46829008920946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 682.7516181735391, + 372.0663663005628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 684.2516181735391, + 374.6644425119161, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 400.0, + -0.375042 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-27-10_1030313563/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-27-10_1030313563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..559ef0d80808497d2d6bad75f88c1f5a2d03743b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-27-10_1030313563/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 582.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 585.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 588.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 591.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 594.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 597.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 600.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 603.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 606.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 609.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 612.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 612.5966571823866, + 171.30361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 615.1947333937399, + 169.80361146702177, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 615.1947333937399, + 169.80361146702177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 616.6947333937399, + 167.20553525566845, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 618.1947333937399, + 164.60745904431514, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 618.1947333937399, + 164.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 620.7928096050932, + 163.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 623.3908858164466, + 161.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 625.9889620278, + 160.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 628.5870382391533, + 158.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 631.1851144505067, + 157.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 633.7831906618601, + 155.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 636.3812668732135, + 154.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 638.9793430845668, + 152.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 641.5774192959202, + 151.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 644.1754955072736, + 149.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 646.773571718627, + 148.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 649.3716479299803, + 146.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 651.9697241413337, + 145.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 654.5678003526871, + 143.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 657.1658765640404, + 142.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 659.7639527753938, + 140.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 662.3620289867472, + 139.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 664.9601051981006, + 137.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 667.5581814094539, + 136.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 670.1562576208073, + 134.60745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 672.7543338321607, + 133.10745904431514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 675.352410043514, + 131.60745904431514, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 124.0, + -33.2522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-33-4_1351538839/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-33-4_1351538839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b98e44a3696d8e7fd7f734b9191c1bcd13f51628 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-33-4_1351538839/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1143.6326805766173, + 610.3969080148036, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1142.1326805766173, + 612.9949842261569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1140.6326805766173, + 615.5930604375103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1139.1326805766173, + 618.1911366488637, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1137.6326805766173, + 620.789212860217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1136.1326805766173, + 623.3872890715704, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1134.6326805766173, + 625.9853652829238, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1133.1326805766173, + 628.5834414942772, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1131.6326805766173, + 631.1815177056305, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1130.1326805766173, + 633.7795939169839, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1128.6326805766173, + 636.3776701283373, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1127.1326805766173, + 638.9757463396907, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1125.6326805766173, + 641.573822551044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1124.1326805766173, + 644.1718987623974, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1122.6326805766173, + 646.7699749737508, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1121.1326805766173, + 649.3680511851042, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1119.6326805766173, + 651.9661273964575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1118.1326805766173, + 654.5642036078109, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1116.6326805766173, + 657.1622798191643, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1115.1326805766173, + 659.7603560305176, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1113.6326805766173, + 662.358432241871, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1112.1326805766173, + 664.9565084532244, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1110.6326805766173, + 667.5545846645778, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1109.1326805766173, + 670.1526608759311, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1107.6326805766173, + 672.7507370872845, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1106.1326805766173, + 675.3488132986379, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-34-24_61101360/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-34-24_61101360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf9c42147a7b030b7ac213b042b8d523f60d1385 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-34-24_61101360/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1588.6057842133614, + 464.9910403988419, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1590.1057842133614, + 462.3929641874886, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1591.6057842133614, + 459.79488797613527, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1593.1057842133614, + 457.19681176478196, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1594.6057842133614, + 454.59873555342864, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1596.1057842133614, + 452.0006593420753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1597.6057842133614, + 449.402583130722, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1599.1057842133614, + 446.8045069193687, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1600.6057842133614, + 444.2064307080154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1602.1057842133614, + 441.60835449666206, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1603.6057842133614, + 439.01027828530874, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1605.1057842133614, + 436.4122020739554, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1606.6057842133614, + 433.8141258626021, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1608.1057842133614, + 431.2160496512488, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1609.6057842133614, + 428.6179734398955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1611.1057842133614, + 426.01989722854216, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1612.6057842133614, + 423.42182101718885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1614.1057842133614, + 420.82374480583553, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1615.6057842133614, + 418.2256685944822, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1617.1057842133614, + 415.6275923831289, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1618.6057842133614, + 413.0295161717756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1620.1057842133614, + 410.43143996042227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1621.6057842133614, + 407.83336374906895, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1623.1057842133614, + 405.23528753771564, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1624.6057842133614, + 402.6372113263623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1626.1057842133614, + 400.039135115009, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1627.6057842133614, + 397.4410589036557, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1629.1057842133614, + 394.84298269230237, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1630.6057842133614, + 392.24490648094906, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1632.1057842133614, + 389.64683026959574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1633.6057842133614, + 387.0487540582424, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1635.1057842133614, + 384.4506778468891, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1636.6057842133614, + 381.8526016355358, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1638.1057842133614, + 379.2545254241825, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1639.6057842133614, + 376.65644921282916, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1641.1057842133614, + 374.05837300147584, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1642.6057842133614, + 371.4602967901225, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1652.0, + 352.0, + -33.5621 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-38-37_216220853/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-38-37_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2af1c87df59fed0889f6de2797195bf12d52b46 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-38-37_216220853/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1524.9755372267798, + -195.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1524.9755372267798, + -192.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1524.9755372267798, + -189.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1524.9755372267798, + -186.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1524.9755372267798, + -183.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1524.9755372267798, + -180.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1524.9755372267798, + -177.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1524.9755372267798, + -174.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1524.9755372267798, + -171.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1524.9755372267798, + -168.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1524.9755372267798, + -165.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1524.9755372267798, + -162.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1524.9755372267798, + -159.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1524.9755372267798, + -156.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1524.9755372267798, + -153.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1524.9755372267798, + -150.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1524.9755372267798, + -147.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1524.9755372267798, + -144.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1524.9755372267798, + -141.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1524.9755372267798, + -138.59878647281565, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1524.9755372267798, + -138.59878647281565, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1523.4755372267798, + -136.00071026146233, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1521.9755372267798, + -133.40263405010901, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1520.4755372267798, + -130.8045578387557, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1518.9755372267798, + -128.20648162740238, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1517.4755372267798, + -125.60840541604907, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1515.9755372267798, + -123.01032920469575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1514.4755372267798, + -120.41225299334243, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1512.9755372267798, + -117.81417678198912, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1511.4755372267798, + -115.2161005706358, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1509.9755372267798, + -112.61802435928249, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.4755372267798, + -110.01994814792917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1506.9755372267798, + -107.42187193657585, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1505.4755372267798, + -104.82379572522254, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1503.9755372267798, + -102.22571951386922, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1502.4755372267798, + -99.6276433025159, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1500.9755372267798, + -97.02956709116259, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1499.4755372267798, + -94.43149087980927, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-42-45_928140528/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-42-45_928140528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5edccbbcd80ffa3cfd837d6cef345117f386594a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-42-45_928140528/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1484.2631823770278, + 82.10073719363821, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1482.7631823770278, + 79.5026609822849, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1481.2631823770278, + 76.90458477093158, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1479.7631823770278, + 74.30650855957826, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1478.2631823770278, + 71.70843234822495, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1476.7631823770278, + 69.11035613687163, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1475.2631823770278, + 66.51227992551831, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1473.7631823770278, + 63.914203714165, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1472.2631823770278, + 61.31612750281168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1470.7631823770278, + 58.718051291458366, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1469.2631823770278, + 56.11997508010505, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1467.7631823770278, + 53.521898868751734, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1466.2631823770278, + 50.92382265739842, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1464.7631823770278, + 48.3257464460451, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1463.2631823770278, + 45.727670234691786, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1461.7631823770278, + 43.12959402333847, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1460.2631823770278, + 40.531517811985154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1458.7631823770278, + 37.93344160063184, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1457.2631823770278, + 35.33536538927852, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1455.7631823770278, + 32.737289177925206, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1454.2631823770278, + 30.13921296657189, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1452.7631823770278, + 27.541136755218574, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1452.7631823770278, + 27.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1450.1651061656744, + 26.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1447.567029954321, + 24.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.9689537429676, + 23.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1442.3708775316143, + 21.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1439.772801320261, + 20.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1437.1747251089075, + 18.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1434.5766488975542, + 17.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1431.9785726862008, + 15.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1429.3804964748474, + 14.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1426.782420263494, + 12.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1424.1843440521407, + 11.041136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1421.5862678407873, + 9.541136755218574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1418.988191629434, + 8.041136755218574, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + -8.0, + -29.4591 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-19_1934392735/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-19_1934392735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3071d19bf14b5699afbf7eafea9063650192ad5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-19_1934392735/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 932.9943395713333, + 987.5077815169218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 931.4943395713333, + 984.9097053055684, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 929.9943395713333, + 982.311629094215, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 928.4943395713333, + 979.7135528828617, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 926.9943395713333, + 977.1154766715083, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 925.4943395713333, + 974.5174004601549, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 923.9943395713333, + 971.9193242488016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 922.4943395713333, + 969.3212480374482, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 920.9943395713333, + 966.7231718260948, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 919.4943395713333, + 964.1250956147414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 917.9943395713333, + 961.5270194033881, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 916.4943395713333, + 958.9289431920347, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 914.9943395713333, + 956.3308669806813, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 913.4943395713333, + 953.732790769328, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 911.9943395713333, + 951.1347145579746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 910.4943395713333, + 948.5366383466212, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 908.9943395713333, + 945.9385621352678, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 907.4943395713333, + 943.3404859239145, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 905.9943395713333, + 940.7424097125611, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 904.4943395713333, + 938.1443335012077, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 902.9943395713333, + 935.5462572898543, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 901.4943395713333, + 932.948181078501, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 899.9943395713333, + 930.3501048671476, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 898.4943395713333, + 927.7520286557942, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 896.9943395713333, + 925.1539524444408, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 895.4943395713333, + 922.5558762330875, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 893.9943395713333, + 919.9578000217341, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 892.4943395713333, + 917.3597238103807, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 890.9943395713333, + 914.7616475990274, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 889.4943395713333, + 912.163571387674, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 896.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-37_620089368/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-37_620089368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f4dc5c2f55a0c25bf83140f6ec53fcef5b23398 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-49-37_620089368/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 471.72436378869185, + 234.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 474.32244000004516, + 233.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.9205162113985, + 231.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 479.5185924227518, + 230.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 482.1166686341051, + 228.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 484.7147448454584, + 227.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 487.31282105681174, + 225.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 489.91089726816506, + 224.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 492.5089734795184, + 222.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 495.1070496908717, + 221.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.705125902225, + 219.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 500.3032021135783, + 218.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 502.90127832493164, + 216.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 505.49935453628495, + 215.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 508.09743074763827, + 213.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 510.6955069589916, + 212.16372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 513.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 513.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 516.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 519.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 522.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 525.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 528.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 531.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 534.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 537.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 537.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 537.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 537.2935831703448, + 210.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 537.2935831703448, + 207.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 537.2935831703448, + 204.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 537.2935831703448, + 201.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 537.2935831703448, + 198.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 537.2935831703448, + 195.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 537.2935831703448, + 192.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 537.2935831703448, + 189.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 537.2935831703448, + 186.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 537.2935831703448, + 183.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 537.2935831703448, + 180.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 537.2935831703448, + 177.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 537.2935831703448, + 174.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 537.2935831703448, + 171.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 537.2935831703448, + 168.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 537.2935831703448, + 165.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 537.2935831703448, + 162.66372109765746, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 537.2935831703448, + 162.66372109765746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 538.7935831703448, + 160.06564488630414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 540.2935831703448, + 157.46756867495083, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 541.7935831703448, + 154.8694924635975, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 543.2935831703448, + 152.2714162522442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 544.7935831703448, + 149.67334004089088, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 546.2935831703448, + 147.07526382953756, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 547.7935831703448, + 144.47718761818425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 549.2935831703448, + 141.87911140683093, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-5-37_1649709016/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-5-37_1649709016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fbcb5991324bca48ad2e8ec817fc4a81bb61192 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-5-37_1649709016/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1002.3165300657589, + 767.0334461379825, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1000.8165300657589, + 769.6315223493359, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 999.3165300657589, + 772.2295985606893, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 997.8165300657589, + 774.8276747720427, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.3165300657589, + 777.425750983396, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 994.8165300657589, + 780.0238271947494, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 993.3165300657589, + 782.6219034061028, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 991.8165300657589, + 785.2199796174561, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 990.3165300657589, + 787.8180558288095, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 988.8165300657589, + 790.4161320401629, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 987.3165300657589, + 793.0142082515163, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 985.8165300657589, + 795.6122844628696, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 984.3165300657589, + 798.210360674223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 982.8165300657589, + 800.8084368855764, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 981.3165300657589, + 803.4065130969298, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 979.8165300657589, + 806.0045893082831, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 978.3165300657589, + 808.6026655196365, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 976.8165300657589, + 811.2007417309899, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 976.8165300657589, + 811.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 976.8165300657589, + 814.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 976.8165300657589, + 817.2007417309899, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 976.8165300657589, + 817.2007417309899, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 976.8165300657589, + 817.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 974.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 974.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589784 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 971.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 968.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 965.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 962.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 959.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 956.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 953.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 950.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 947.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 944.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 941.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 938.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 938.2184538544057, + 818.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 935.6203776430523, + 817.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 933.0223014316989, + 815.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 930.4242252203455, + 814.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 927.8261490089922, + 812.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 925.2280727976388, + 811.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 922.6299965862854, + 809.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 920.031920374932, + 808.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 917.4338441635787, + 806.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 914.8357679522253, + 805.2007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 912.2376917408719, + 803.7007417309899, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 909.6396155295186, + 802.2007417309899, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 808.0, + -30.1697 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-57-26_695466127/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-57-26_695466127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb3846739c43ece144132c12b6d30ca39876377d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-57-26_695466127/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 123.18858155060457, + -452.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.59050533925125, + -451.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 117.99242912789794, + -449.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.39435291654462, + -448.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.7962767051913, + -446.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 110.19820049383799, + -445.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.60012428248467, + -443.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 105.00204807113136, + -442.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.40397185977804, + -440.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.80589564842472, + -439.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.20781943707141, + -437.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.60974322571809, + -436.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.01166701436478, + -434.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 89.41359080301146, + -433.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.81551459165814, + -431.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 84.21743838030483, + -430.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 81.61936216895151, + -428.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 79.0212859575982, + -427.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.42320974624488, + -425.9192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 73.82513353489156, + -424.4192983104367, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 73.82513353489156, + -424.4192983104367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 72.32513353489156, + -421.8212220990834, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 70.82513353489156, + -419.2231458877301, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.32513353489156, + -416.62506967637677, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 67.82513353489156, + -414.02699346502345, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 66.32513353489156, + -411.42891725367014, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 64.82513353489156, + -408.8308410423168, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-20_987987334/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-20_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1ac183f09ae5e0c47733ee76a2a9a1157763597 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-20_987987334/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 843.7069887942484, + 1117.7913542121337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 845.2069887942484, + 1120.389430423487, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 846.7069887942484, + 1122.9875066348404, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 848.2069887942484, + 1125.5855828461938, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 849.7069887942484, + 1128.1836590575472, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 851.2069887942484, + 1130.7817352689005, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 852.7069887942484, + 1133.379811480254, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 854.2069887942484, + 1135.9778876916073, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 855.7069887942484, + 1138.5759639029607, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 857.2069887942484, + 1141.174040114314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 858.7069887942484, + 1143.7721163256674, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 860.2069887942484, + 1146.3701925370208, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 861.7069887942484, + 1148.9682687483742, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 863.2069887942484, + 1151.5663449597275, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 863.2069887942484, + 1151.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 863.2069887942484, + 1154.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 863.2069887942484, + 1157.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 863.2069887942484, + 1160.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 863.2069887942484, + 1163.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 863.2069887942484, + 1166.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 863.2069887942484, + 1169.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 863.2069887942484, + 1172.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 863.2069887942484, + 1175.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 863.2069887942484, + 1178.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 863.2069887942484, + 1181.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 863.2069887942484, + 1184.5663449597275, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 863.2069887942484, + 1184.5663449597275, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 864.7069887942484, + 1187.164421171081, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 1248.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-36_1162088421/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-36_1162088421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73fa75e5e3b7add16362187483dc072a365d0ed0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-59-36_1162088421/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -135.1095484572893, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -132.1095484572893, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.1095484572893, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -126.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -123.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -120.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -114.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -111.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -105.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -99.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -96.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -93.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -93.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.10954845728929, + -167.4638529577283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -91.60954845728929, + -164.865776746375, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -90.10954845728929, + -162.26770053502167, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -88.60954845728929, + -159.66962432366836, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -87.10954845728929, + -157.07154811231504, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -85.60954845728929, + -154.47347190096173, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -85.60954845728929, + -154.47347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -83.01147224593598, + -152.97347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -80.41339603458266, + -151.47347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -77.81531982322934, + -149.97347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -75.21724361187603, + -148.47347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -72.61916740052271, + -146.97347190096173, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -70.0210911891694, + -145.47347190096173, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + -128.0, + -27.9559 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-7-12_454333378/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-7-12_454333378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..558677645365d4f418a9c52a3b660530333d2e81 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-7-12_454333378/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -86.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -83.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -77.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -74.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -71.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -68.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -62.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -59.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -56.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -53.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -50.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -44.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -41.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -38.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -35.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -32.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -29.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -17.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -14.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -11.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -11.7061982792451, + -106.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -9.108122067891784, + -108.27608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.5100458565384685, + -109.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -3.9119696451851524, + -111.27608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1.3138934338318364, + -112.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1.2841827775214796, + -114.27608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3.8822589888747956, + -115.77608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 6.480335200228112, + -117.27608002681988, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 6.480335200228112, + -117.27608002681988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 7.980335200228112, + -119.8741562381732, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 9.480335200228112, + -122.47223244952652, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 28.0, + -128.0, + -29.9979 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-22_931489114/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-22_931489114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d64b8a222a9592f447a1681beed907769cca32e0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-22_931489114/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 224.97739764963427, + -341.1528479000383, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 223.47739764963427, + -338.554771688685, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 221.97739764963427, + -335.95669547733166, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 220.47739764963427, + -333.35861926597835, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 218.97739764963427, + -330.76054305462503, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 217.47739764963427, + -328.1624668432717, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 215.97739764963427, + -325.5643906319184, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 214.47739764963427, + -322.9663144205651, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 212.97739764963427, + -320.36823820921177, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 211.47739764963427, + -317.77016199785845, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 209.97739764963427, + -315.17208578650514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 208.47739764963427, + -312.5740095751518, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 206.97739764963427, + -309.9759333637985, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 205.47739764963427, + -307.3778571524452, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 203.97739764963427, + -304.7797809410919, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 202.47739764963427, + -302.18170472973856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 200.97739764963427, + -299.58362851838524, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 199.47739764963427, + -296.9855523070319, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 197.97739764963427, + -294.3874760956786, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 196.47739764963427, + -291.7893998843253, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 194.97739764963427, + -289.191323672972, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.97739764963427, + -289.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 194.97739764963427, + -286.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 194.97739764963427, + -283.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 194.97739764963427, + -280.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 194.97739764963427, + -277.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 194.97739764963427, + -274.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 194.97739764963427, + -271.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 194.97739764963427, + -268.191323672972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 194.97739764963427, + -265.191323672972, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -204.0, + -34.1926 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-20-11_1444311956/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-20-11_1444311956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cc2e314efe6228dee56eae9d03121be0d1ff6fa --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-20-11_1444311956/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1166.074551742998, + 987.7575239924032, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1164.574551742998, + 985.15944778105, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1163.074551742998, + 982.5613715696966, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1161.574551742998, + 979.9632953583432, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1160.074551742998, + 977.3652191469898, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1158.574551742998, + 974.7671429356365, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1157.074551742998, + 972.1690667242831, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1155.574551742998, + 969.5709905129297, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1154.074551742998, + 966.9729143015763, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1152.574551742998, + 964.374838090223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1151.074551742998, + 961.7767618788696, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1149.574551742998, + 959.1786856675162, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1148.074551742998, + 956.5806094561628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1146.574551742998, + 953.9825332448095, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1145.074551742998, + 951.3844570334561, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1143.574551742998, + 948.7863808221027, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1142.074551742998, + 946.1883046107494, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1140.574551742998, + 943.590228399396, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1139.074551742998, + 940.9921521880426, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1137.574551742998, + 938.3940759766892, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1136.074551742998, + 935.7959997653359, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1134.574551742998, + 933.1979235539825, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1133.074551742998, + 930.5998473426291, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1131.574551742998, + 928.0017711312757, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1130.074551742998, + 925.4036949199224, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1128.574551742998, + 922.805618708569, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1128.574551742998, + 922.805618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1125.9764755316446, + 921.305618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1123.3783993202912, + 919.805618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1120.7803231089379, + 918.305618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1118.1822468975845, + 916.805618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1115.5841706862311, + 915.305618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1112.9860944748777, + 913.805618708569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1110.3880182635244, + 912.305618708569, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-25-29_10150109/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-25-29_10150109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c37b547d7b6b6ac95a55898d1a508d577f130743 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-25-29_10150109/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 786.5678954252919, + 990.0472707916659, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 785.0678954252919, + 992.6453470030192, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 785.0678954252919, + 992.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949063 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 785.0678954252919, + 995.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 785.0678954252919, + 998.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 785.0678954252919, + 1001.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 785.0678954252919, + 1004.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 785.0678954252919, + 1007.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 785.0678954252919, + 1010.6453470030192, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 785.0678954252919, + 1010.6453470030192, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 786.5678954252919, + 1013.2434232143726, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 786.5678954252919, + 1013.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 786.5678954252919, + 1016.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 786.5678954252919, + 1019.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 786.5678954252919, + 1022.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 786.5678954252919, + 1025.2434232143726, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 786.5678954252919, + 1025.2434232143726, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 786.5678954252919, + 1025.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.9698192139385, + 1026.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 781.3717430025852, + 1028.2434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 778.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 778.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 775.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 772.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 769.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 766.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 763.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 760.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 757.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 754.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 751.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 748.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 745.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 742.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 739.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 736.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 733.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 730.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 727.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 724.7736667912318, + 1029.7434232143726, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 1048.0, + -30.1697 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-16_2138982933/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-16_2138982933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd67dea9e362146ddd8905f69d9c69845610945f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-16_2138982933/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 886.5378760910662, + 141.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 883.9397998797128, + 139.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 881.3417236683595, + 138.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 878.7436474570061, + 136.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 876.1455712456527, + 135.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 873.5474950342993, + 133.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 870.949418822946, + 132.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 868.3513426115926, + 130.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 865.7532664002392, + 129.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 863.1551901888859, + 127.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 860.5571139775325, + 126.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 857.9590377661791, + 124.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 855.3609615548257, + 123.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 852.7628853434724, + 121.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 850.164809132119, + 120.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 847.5667329207656, + 118.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 844.9686567094122, + 117.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 842.3705804980589, + 115.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 839.7725042867055, + 114.32147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 837.1744280753521, + 112.82147523942103, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 837.1744280753521, + 112.82147523942103, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 835.6744280753521, + 110.22339902806772, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 834.1744280753521, + 107.6253228167144, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 832.6744280753521, + 105.02724660536109, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 831.1744280753521, + 102.42917039400777, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 829.6744280753521, + 99.83109418265445, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 828.1744280753521, + 97.23301797130114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 826.6744280753521, + 94.63494175994782, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 825.1744280753521, + 92.0368655485945, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 823.6744280753521, + 89.43878933724119, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 822.1744280753521, + 86.84071312588787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 820.6744280753521, + 84.24263691453456, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 819.1744280753521, + 81.64456070318124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 817.6744280753521, + 79.04648449182793, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 816.1744280753521, + 76.44840828047461, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 814.6744280753521, + 73.8503320691213, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 813.1744280753521, + 71.25225585776798, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 796.0, + 52.0, + 0.635089 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-3_18400960/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-3_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b13c4099dbb426d5e10e6718124e153c704ad5e5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-31-3_18400960/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1024.0512516151769, + 342.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1024.0512516151769, + 345.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1024.0512516151769, + 348.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1024.0512516151769, + 351.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1024.0512516151769, + 354.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1024.0512516151769, + 357.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1024.0512516151769, + 360.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1024.0512516151769, + 363.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1024.0512516151769, + 366.21948259343276, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1024.0512516151769, + 366.21948259343276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1025.5512516151769, + 368.8175588047861, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1027.0512516151769, + 371.4156350161394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1028.5512516151769, + 374.0137112274927, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1030.0512516151769, + 376.611787438846, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1031.5512516151769, + 379.20986365019934, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1031.5512516151769, + 379.20986365019934, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1031.5512516151769, + 382.20986365019934, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1031.5512516151769, + 385.20986365019934, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 476.0, + -9.69104 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-32-44_1720185677/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-32-44_1720185677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da9d559b1fa36efaae9c15ba9eb554dcac76ac93 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-32-44_1720185677/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1651.6585254452943, + 585.602647069337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1650.1585254452943, + 588.2007232806902, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1648.6585254452943, + 590.7987994920436, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1647.1585254452943, + 593.396875703397, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1645.6585254452943, + 595.9949519147503, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1644.1585254452943, + 598.5930281261037, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1642.6585254452943, + 601.1911043374571, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1641.1585254452943, + 603.7891805488105, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1639.6585254452943, + 606.3872567601638, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1638.1585254452943, + 608.9853329715172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1636.6585254452943, + 611.5834091828706, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1635.1585254452943, + 614.181485394224, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1633.6585254452943, + 616.7795616055773, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1632.1585254452943, + 619.3776378169307, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1630.6585254452943, + 621.9757140282841, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1629.1585254452943, + 624.5737902396374, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1627.6585254452943, + 627.1718664509908, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1626.1585254452943, + 629.7699426623442, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1626.1585254452943, + 629.7699426623442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1626.1585254452943, + 632.7699426623442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1626.1585254452943, + 635.7699426623442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1626.1585254452943, + 638.7699426623442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1626.1585254452943, + 641.7699426623442, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1626.1585254452943, + 641.7699426623442, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1624.6585254452943, + 644.3680188736976, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-36-0_379461075/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-36-0_379461075/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba3db3a748b7d6ddeff967c096028146f6eda998 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-36-0_379461075/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 323.03155581941826, + 173.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 323.03155581941826, + 176.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 323.03155581941826, + 179.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 323.03155581941826, + 182.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 323.03155581941826, + 185.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 323.03155581941826, + 188.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 323.03155581941826, + 191.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 323.03155581941826, + 194.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 323.03155581941826, + 197.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 323.03155581941826, + 200.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 323.03155581941826, + 203.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 323.03155581941826, + 206.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.03155581941826, + 209.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 323.03155581941826, + 212.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.03155581941826, + 215.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 323.03155581941826, + 218.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 323.03155581941826, + 221.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 323.03155581941826, + 224.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.03155581941826, + 227.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 323.03155581941826, + 230.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 323.03155581941826, + 233.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.03155581941826, + 236.18804128660463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 323.03155581941826, + 239.18804128660463, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-37-45_592456289/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-37-45_592456289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c4e2ac6681f27fdbd12059dbb087feb712225c1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-37-45_592456289/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 630.3335365895375, + 248.78057306105669, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 628.8335365895375, + 246.18249684970337, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 627.3335365895375, + 243.58442063835005, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 625.8335365895375, + 240.98634442699674, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 624.3335365895375, + 238.38826821564342, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 622.8335365895375, + 235.7901920042901, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 621.3335365895375, + 233.1921157929368, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 619.8335365895375, + 230.59403958158347, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 618.3335365895375, + 227.99596337023016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 616.8335365895375, + 225.39788715887684, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 615.3335365895375, + 222.79981094752353, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 613.8335365895375, + 220.2017347361702, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 612.3335365895375, + 217.6036585248169, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 610.8335365895375, + 215.00558231346358, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 609.3335365895375, + 212.40750610211026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 607.8335365895375, + 209.80942989075695, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 606.3335365895375, + 207.21135367940363, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 604.8335365895375, + 204.6132774680503, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 603.3335365895375, + 202.015201256697, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 601.8335365895375, + 199.41712504534368, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 600.3335365895375, + 196.81904883399037, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 598.8335365895375, + 194.22097262263705, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 597.3335365895375, + 191.62289641128373, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 595.8335365895375, + 189.02482019993042, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 594.3335365895375, + 186.4267439885771, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 592.8335365895375, + 183.82866777722379, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 591.3335365895375, + 181.23059156587047, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 589.8335365895375, + 178.63251535451715, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 588.3335365895375, + 176.03443914316384, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 586.8335365895375, + 173.43636293181052, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 585.3335365895375, + 170.8382867204572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 583.8335365895375, + 168.2402105091039, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 582.3335365895375, + 165.64213429775057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 580.8335365895375, + 163.04405808639726, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 579.3335365895375, + 160.44598187504394, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 579.3335365895375, + 160.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 579.3335365895375, + 157.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 579.3335365895375, + 154.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 579.3335365895375, + 151.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 579.3335365895375, + 148.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 579.3335365895375, + 145.44598187504394, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 579.3335365895375, + 142.44598187504394, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-38-7_1176225844/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-38-7_1176225844/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef1798ae0cbb6999b7aee5882eb180e4ceea41f4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-38-7_1176225844/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1788.2862966274247, + 92.74587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1790.884372838778, + 94.24587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1793.4824490501314, + 95.74587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1796.0805252614848, + 97.24587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1798.6786014728382, + 98.74587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1801.2766776841916, + 100.24587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1803.874753895545, + 101.74587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1806.4728301068983, + 103.24587441663293, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1806.4728301068983, + 103.24587441663293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1807.9728301068983, + 105.84395062798625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1809.4728301068983, + 108.44202683933956, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1810.9728301068983, + 111.04010305069288, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1812.4728301068983, + 113.6381792620462, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1813.9728301068983, + 116.23625547339951, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1815.4728301068983, + 118.83433168475283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1816.9728301068983, + 121.43240789610614, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1818.4728301068983, + 124.03048410745946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1819.9728301068983, + 126.62856031881277, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1821.4728301068983, + 129.2266365301661, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1821.4728301068983, + 129.2266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983013 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1824.0709063182517, + 130.7266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1826.668982529605, + 132.2266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1829.2670587409584, + 133.7266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1831.8651349523118, + 135.2266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1834.4632111636652, + 136.7266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1837.0612873750185, + 138.2266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1839.659363586372, + 139.7266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1842.2574397977253, + 141.2266365301661, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1842.2574397977253, + 141.2266365301661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1843.7574397977253, + 143.82471274151942, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1845.2574397977253, + 146.42278895287274, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-33_1172063133/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-33_1172063133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..825f00b4c159081240eff0b68f2e174068cc96bf --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-33_1172063133/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1011.3613070896092, + 45.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1008.7632308782559, + 43.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1006.1651546669025, + 42.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1003.5670784555491, + 40.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1000.9690022441957, + 39.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 998.3709260328424, + 37.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 995.772849821489, + 36.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 993.1747736101356, + 34.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 990.5766973987822, + 33.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 987.9786211874289, + 31.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 985.3805449760755, + 30.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 982.7824687647221, + 28.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 980.1843925533688, + 27.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 977.5863163420154, + 25.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 974.988240130662, + 24.439789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 972.3901639193086, + 22.939789337714885, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 972.3901639193086, + 22.939789337714885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 970.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 970.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 970.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 967.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 964.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 961.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 958.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 955.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 952.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 949.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 946.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 943.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 940.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 937.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 934.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 931.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 928.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 925.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 922.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 919.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 916.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 913.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 910.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 907.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 907.8901639193086, + 20.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 905.2920877079553, + 18.84171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 902.6940114966019, + 17.34171312636157, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 900.0959352852485, + 15.841713126361569, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 897.4978590738951, + 14.341713126361569, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + 4.0, + -27.3656 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-42-42_373953666/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-42-42_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4df33d6bccab6476269124ca4350b633ea91674 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-42-42_373953666/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.97554210608408, + -338.0702334081946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.47554210608408, + -335.4721571968413, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.97554210608408, + -332.874080985488, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -107.47554210608408, + -330.27600477413466, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.47554210608408, + -330.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -107.47554210608408, + -327.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.47554210608408, + -324.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.47554210608408, + -321.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.47554210608408, + -318.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -107.47554210608408, + -315.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.47554210608408, + -312.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -107.47554210608408, + -309.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.47554210608408, + -306.27600477413466, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.47554210608408, + -306.27600477413466, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.47554210608408, + -306.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.87746589473076, + -304.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.27938968337745, + -303.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.68131347202413, + -301.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.08323726067081, + -300.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -94.4851610493175, + -298.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.88708483796418, + -297.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -89.28900862661087, + -295.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -86.69093241525755, + -294.27600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -84.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -84.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -81.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -78.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -75.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -72.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -69.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -66.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -63.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -63.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -63.09285620390423, + -292.77600477413466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -61.59285620390423, + -290.17792856278135, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -60.09285620390423, + -287.57985235142803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -58.59285620390423, + -284.9817761400747, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -57.09285620390423, + -282.3836999287214, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -55.59285620390423, + -279.7856237173681, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -54.09285620390423, + -277.18754750601477, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -52.59285620390423, + -274.58947129466145, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -51.09285620390423, + -271.99139508330813, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -49.59285620390423, + -269.3933188719548, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -48.09285620390423, + -266.7952426606015, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -46.59285620390423, + -264.1971664492482, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -45.09285620390423, + -261.59909023789487, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -43.59285620390423, + -259.00101402654155, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -42.09285620390423, + -256.40293781518824, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -40.59285620390423, + -253.80486160383492, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -39.09285620390423, + -251.2067853924816, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -37.59285620390423, + -248.6087091811283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -36.09285620390423, + -246.01063296977497, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -224.0, + -27.925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-8-46_301373537/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-8-46_301373537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bef01f5ee481542597612b0925a029d36b6ef252 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-8-46_301373537/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1474.9072380688388, + 993.6568938565788, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1476.4072380688388, + 991.0588176452254, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1477.9072380688388, + 988.460741433872, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1479.4072380688388, + 985.8626652225187, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1480.9072380688388, + 983.2645890111653, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1482.4072380688388, + 980.6665127998119, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1483.9072380688388, + 978.0684365884586, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1485.4072380688388, + 975.4703603771052, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1486.9072380688388, + 972.8722841657518, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1488.4072380688388, + 970.2742079543984, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1489.9072380688388, + 967.6761317430451, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1491.4072380688388, + 965.0780555316917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1492.9072380688388, + 962.4799793203383, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1494.4072380688388, + 959.8819031089849, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1495.9072380688388, + 957.2838268976316, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1497.4072380688388, + 954.6857506862782, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1498.9072380688388, + 952.0876744749248, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1500.4072380688388, + 949.4895982635715, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1501.9072380688388, + 946.8915220522181, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1503.4072380688388, + 944.2934458408647, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1504.9072380688388, + 941.6953696295113, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1506.4072380688388, + 939.097293418158, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1507.9072380688388, + 936.4992172068046, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1507.9072380688388, + 936.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1507.9072380688388, + 933.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1507.9072380688388, + 930.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1507.9072380688388, + 927.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1507.9072380688388, + 924.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1507.9072380688388, + 921.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1507.9072380688388, + 918.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1507.9072380688388, + 915.4992172068046, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1507.9072380688388, + 912.4992172068046, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1516.0, + 892.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-0-53_1881049613/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-0-53_1881049613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ea885ad3d7889edb969356056ca8f1c33852fea --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-0-53_1881049613/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1933.7225259538325, + 31.046328155111098, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1936.3206021651858, + 32.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1938.9186783765392, + 34.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1941.5167545878926, + 35.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1944.114830799246, + 37.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1946.7129070105993, + 38.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1949.3109832219527, + 40.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1951.909059433306, + 41.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1954.5071356446595, + 43.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1957.1052118560128, + 44.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1959.7032880673662, + 46.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1962.3013642787196, + 47.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1964.899440490073, + 49.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1967.4975167014263, + 50.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1970.0955929127797, + 52.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1972.693669124133, + 53.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1975.2917453354864, + 55.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1977.8898215468398, + 56.5463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1980.4878977581932, + 58.0463281551111, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1980.4878977581932, + 58.0463281551111, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1981.9878977581932, + 60.644404366464414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1983.4878977581932, + 63.24248057781773, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1984.9878977581932, + 65.84055678917105, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1986.4878977581932, + 68.43863300052436, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1987.9878977581932, + 71.03670921187768, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1989.4878977581932, + 73.634785423231, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1990.9878977581932, + 76.23286163458431, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1992.4878977581932, + 78.83093784593763, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1993.9878977581932, + 81.42901405729094, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1993.9878977581932, + 81.42901405729094, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1996.5859739695466, + 82.92901405729094, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-11-24_272312086/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-11-24_272312086/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74164a843b56cb7ee98715b96e729143e3597fc4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-11-24_272312086/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 465.97941516230924, + 52.874219110394634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.47941516230924, + 55.47229532174795, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 468.97941516230924, + 58.070371533101266, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 470.47941516230924, + 60.66844774445458, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 470.47941516230924, + 60.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.07749137366255, + 62.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 475.67556758501587, + 63.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 478.2736437963692, + 65.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.8717200077225, + 66.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.4697962190758, + 68.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.06787243042913, + 69.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 488.66594864178245, + 71.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 491.26402485313577, + 72.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.8621010644891, + 74.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 496.4601772758424, + 75.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 499.0582534871957, + 77.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 501.65632969854903, + 78.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 504.25440590990235, + 80.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 506.85248212125566, + 81.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 509.450558332609, + 83.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 512.0486345439623, + 84.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 514.6467107553156, + 86.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 517.2447869666689, + 87.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 519.8428631780223, + 89.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 522.4409393893757, + 90.66844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 525.039015600729, + 92.16844774445458, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 527.6370918120824, + 93.66844774445458, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-15-1_1322623287/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-15-1_1322623287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96cdb273c68f5e101df7b6f472014d7a9150760b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-15-1_1322623287/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 987.5055589163119, + 983.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 984.9074827049585, + 981.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 982.3094064936051, + 980.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 979.7113302822518, + 978.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 977.1132540708984, + 977.2305271013634, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 977.1132540708984, + 977.2305271013634, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 977.1132540708984, + 977.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 977.1132540708984, + 974.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 977.1132540708984, + 971.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 977.1132540708984, + 968.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 977.1132540708984, + 965.2305271013634, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 977.1132540708984, + 965.2305271013634, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 977.1132540708984, + 965.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 974.515177859545, + 963.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 971.9171016481916, + 962.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 969.3190254368383, + 960.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 966.7209492254849, + 959.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 964.1228730141315, + 957.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 961.5247968027782, + 956.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 958.9267205914248, + 954.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 956.3286443800714, + 953.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 953.730568168718, + 951.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 951.1324919573647, + 950.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 948.5344157460113, + 948.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 945.9363395346579, + 947.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 943.3382633233045, + 945.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 940.7401871119512, + 944.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 938.1421109005978, + 942.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 935.5440346892444, + 941.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 932.945958477891, + 939.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 930.3478822665377, + 938.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 927.7498060551843, + 936.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 925.1517298438309, + 935.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 922.5536536324776, + 933.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 919.9555774211242, + 932.2305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 917.3575012097708, + 930.7305271013634, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 917.3575012097708, + 930.7305271013634, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 915.8575012097708, + 928.13245089001, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 914.3575012097708, + 925.5343746786566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 912.8575012097708, + 922.9362984673032, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 911.3575012097708, + 920.3382222559499, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 909.8575012097708, + 917.7401460445965, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 908.3575012097708, + 915.1420698332431, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 906.8575012097708, + 912.5439936218897, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 906.8575012097708, + 912.5439936218897, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 906.8575012097708, + 912.5439936218897, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 903.8575012097708, + 912.5439936218897, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 900.8575012097708, + 912.5439936218897, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 884.0, + 896.0, + -29.9978 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-2-58_1107096180/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-2-58_1107096180/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ababcf3ec131538a9dcf88b1d37c505743257578 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-2-58_1107096180/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1369.6076517692309, + -87.1836531593741, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1371.1076517692309, + -84.58557694802079, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1372.6076517692309, + -81.98750073666747, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1374.1076517692309, + -79.38942452531415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1375.6076517692309, + -76.79134831396084, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1377.1076517692309, + -74.19327210260752, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1378.6076517692309, + -71.5951958912542, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1380.1076517692309, + -68.99711967990089, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1381.6076517692309, + -66.39904346854757, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1381.6076517692309, + -66.39904346854757, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1381.6076517692309, + -63.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1381.6076517692309, + -60.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1381.6076517692309, + -57.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1381.6076517692309, + -54.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1381.6076517692309, + -51.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1381.6076517692309, + -48.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1381.6076517692309, + -45.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1381.6076517692309, + -42.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1381.6076517692309, + -39.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1381.6076517692309, + -36.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.6076517692309, + -33.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1381.6076517692309, + -30.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1381.6076517692309, + -27.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1381.6076517692309, + -24.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.6076517692309, + -21.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1381.6076517692309, + -18.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1381.6076517692309, + -15.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1381.6076517692309, + -12.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1381.6076517692309, + -9.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1381.6076517692309, + -6.399043468547575, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1381.6076517692309, + -3.3990434685475748, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1381.6076517692309, + -0.3990434685475748, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1381.6076517692309, + 2.6009565314524252, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1381.6076517692309, + 5.600956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1381.6076517692309, + 8.600956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1381.6076517692309, + 11.600956531452425, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1381.6076517692309, + 11.600956531452425, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1381.6076517692309, + 11.600956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1384.2057279805842, + 13.100956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1386.8038041919376, + 14.600956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1389.401880403291, + 16.100956531452425, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1389.401880403291, + 16.100956531452425, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1390.901880403291, + 18.69903274280574, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1392.401880403291, + 21.297108954159057, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1393.901880403291, + 23.895185165512373, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 48.0, + -29.2873 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-36_304505404/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-36_304505404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df31a44941e96b3c0b3f82d9be7c62b071b31ab --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-36_304505404/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 881.1929232594821, + -173.58714894004493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 879.6929232594821, + -176.18522515139824, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 878.1929232594821, + -178.78330136275156, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 876.6929232594821, + -181.38137757410487, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 875.1929232594821, + -183.9794537854582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 873.6929232594821, + -186.5775299968115, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 872.1929232594821, + -189.17560620816482, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 870.6929232594821, + -191.77368241951814, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 869.1929232594821, + -194.37175863087145, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 867.6929232594821, + -196.96983484222477, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 866.1929232594821, + -199.5679110535781, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 864.6929232594821, + -202.1659872649314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 863.1929232594821, + -204.76406347628472, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 861.6929232594821, + -207.36213968763803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 860.1929232594821, + -209.96021589899135, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 858.6929232594821, + -212.55829211034467, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 857.1929232594821, + -215.15636832169798, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 855.6929232594821, + -217.7544445330513, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 854.1929232594821, + -220.35252074440461, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 852.6929232594821, + -222.95059695575793, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 851.1929232594821, + -225.54867316711125, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.6929232594821, + -228.14674937846456, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 848.1929232594821, + -230.74482558981788, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 846.6929232594821, + -233.3429018011712, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 845.1929232594821, + -235.9409780125245, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 845.1929232594821, + -235.9409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 842.5948470481287, + -237.4409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 839.9967708367753, + -238.9409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 837.398694625422, + -240.4409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 834.8006184140686, + -241.9409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 832.2025422027152, + -243.4409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 829.6044659913618, + -244.9409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 827.0063897800085, + -246.4409780125245, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 824.4083135686551, + -247.9409780125245, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-54_1835342733/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-54_1835342733/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb6fe78c3dd59711966399f6aea0f2e3b0a45423 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-20-54_1835342733/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 922.4247197883061, + 625.9408321503463, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 920.9247197883061, + 623.3427559389929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 919.4247197883061, + 620.7446797276396, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 917.9247197883061, + 618.1466035162862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 916.4247197883061, + 615.5485273049328, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 914.9247197883061, + 612.9504510935794, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 913.4247197883061, + 610.3523748822261, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 911.9247197883061, + 607.7542986708727, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 910.4247197883061, + 605.1562224595193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 908.9247197883061, + 602.5581462481659, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 907.4247197883061, + 599.9600700368126, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 905.9247197883061, + 597.3619938254592, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 904.4247197883061, + 594.7639176141058, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 902.9247197883061, + 592.1658414027524, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 901.4247197883061, + 589.5677651913991, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 899.9247197883061, + 586.9696889800457, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 898.4247197883061, + 584.3716127686923, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 896.9247197883061, + 581.773536557339, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 895.4247197883061, + 579.1754603459856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 893.9247197883061, + 576.5773841346322, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 893.9247197883061, + 576.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 891.3266435769528, + 575.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 888.7285673655995, + 573.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.1304911542461, + 572.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 883.5324149428927, + 570.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 880.9343387315394, + 569.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 878.336262520186, + 567.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 875.7381863088326, + 566.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 873.1401100974792, + 564.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 870.5420338861259, + 563.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 867.9439576747725, + 561.5773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 865.3458814634191, + 560.0773841346322, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 862.7478052520657, + 558.5773841346322, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 848.0, + 540.0, + -33.4364 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-22-20_1196774315/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-22-20_1196774315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ec976fc30426f95bda3c4384bb8b92f0526149f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-22-20_1196774315/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 741.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 744.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 747.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 750.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 753.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 756.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 759.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 759.0324535040074, + 597.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 761.6305297153608, + 598.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 764.2286059267142, + 600.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 766.8266821380676, + 601.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 769.4247583494209, + 603.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 772.0228345607743, + 604.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 774.6209107721277, + 606.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 777.218986983481, + 607.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 779.8170631948344, + 609.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 782.4151394061878, + 610.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 785.0132156175412, + 612.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 787.6112918288945, + 613.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 790.2093680402479, + 615.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 792.8074442516013, + 616.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 795.4055204629547, + 618.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 798.003596674308, + 619.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 800.6016728856614, + 621.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 803.1997490970148, + 622.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 805.7978253083681, + 624.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 808.3959015197215, + 625.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 810.9939777310749, + 627.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 813.5920539424283, + 628.6812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 816.1901301537816, + 630.1812858737762, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 818.788206365135, + 631.6812858737762, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 640.0, + 1.62652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-37-52_1756098480/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-37-52_1756098480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd79de4ded972a3cf4640cb413e33e58a575f0f1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-37-52_1756098480/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1504.4545270486763, + -158.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1504.4545270486763, + -155.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1504.4545270486763, + -152.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1504.4545270486763, + -149.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1504.4545270486763, + -146.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1504.4545270486763, + -143.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1504.4545270486763, + -140.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1504.4545270486763, + -137.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1504.4545270486763, + -134.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1504.4545270486763, + -131.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1504.4545270486763, + -128.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1504.4545270486763, + -125.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1504.4545270486763, + -122.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1504.4545270486763, + -119.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1504.4545270486763, + -116.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1504.4545270486763, + -113.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1504.4545270486763, + -110.93810191531998, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1504.4545270486763, + -110.93810191531998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1502.9545270486763, + -108.34002570396666, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1501.4545270486763, + -105.74194949261334, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1499.9545270486763, + -103.14387328126003, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1498.4545270486763, + -100.54579706990671, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1496.9545270486763, + -97.9477208585534, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1495.4545270486763, + -95.34964464720008, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-41-44_263419017/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-41-44_263419017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f6e8ad8576b5b39eba6023ffaeef75b85faf7d5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-41-44_263419017/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1352.2106359803513, + 95.02271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1354.8087121917047, + 96.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1357.406788403058, + 98.02271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1360.0048646144114, + 99.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1362.6029408257648, + 101.02271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.2010170371182, + 102.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1367.7990932484715, + 104.02271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1370.397169459825, + 105.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1372.9952456711783, + 107.02271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1375.5933218825317, + 108.52271063413059, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1375.5933218825317, + 108.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1378.5933218825317, + 108.52271063413059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1381.5933218825317, + 108.52271063413059, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1444.0, + 136.0, + -27.7954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-44-6_1907712995/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-44-6_1907712995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50cc3ce43474695920c9a136b08fc87bede65f18 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-44-6_1907712995/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 403.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 397.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 388.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 385.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 379.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 376.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 373.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 364.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 361.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 358.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 355.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 349.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 346.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 343.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 340.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 337.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 337.6194147603985, + 27.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 335.0213385490452, + 25.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.4232623376919, + 24.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 329.82518612633856, + 22.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 327.22710991498525, + 21.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 324.62903370363193, + 19.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 322.0309574922786, + 18.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 319.4328812809253, + 16.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 316.834805069572, + 15.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 314.23672885821867, + 13.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.63865264686535, + 12.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.04057643551204, + 10.64295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.4425002241587, + 9.14295259225661, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 303.8444240128054, + 7.642952592256609, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.2463478014521, + 6.142952592256609, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 298.6482715900988, + 4.642952592256609, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.05019537874546, + 3.1429525922566093, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 272.0, + -4.0, + -30.6687 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-48-54_1805613091/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-48-54_1805613091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6aaea46d7dd2bb31cfffbaf4cbd345b3ad57002e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-48-54_1805613091/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1149.847492600025, + 217.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1147.2494163886715, + 219.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1144.6513401773182, + 220.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1142.0532639659648, + 222.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1139.4551877546114, + 223.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1136.857111543258, + 225.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1134.2590353319047, + 226.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1131.6609591205513, + 228.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1129.062882909198, + 229.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1126.4648066978446, + 231.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1123.8667304864912, + 232.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1121.2686542751378, + 234.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1118.6705780637844, + 235.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1116.072501852431, + 237.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1113.4744256410777, + 238.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1110.8763494297243, + 240.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1108.278273218371, + 241.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1105.6801970070176, + 243.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1103.0821207956642, + 244.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1100.4840445843108, + 246.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1097.8859683729574, + 247.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1095.287892161604, + 249.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1092.6898159502507, + 250.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1090.0917397388973, + 252.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1087.493663527544, + 253.76130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1084.8955873161906, + 255.26130644400493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1082.2975111048372, + 256.7613064440049, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991512 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1079.6994348934838, + 258.2613064440049, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1077.1013586821305, + 259.7613064440049, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1074.503282470777, + 261.2613064440049, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1074.503282470777, + 261.2613064440049, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1073.003282470777, + 263.8593826553582, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1071.503282470777, + 266.45745886671153, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 284.0, + -0.375382 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-53-14_604263370/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-53-14_604263370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d63979047ef76719c713a418c667b7a23bfb35a --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-53-14_604263370/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -203.811380706252, + 228.53085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -201.2133044948987, + 230.03085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -198.61522828354538, + 231.53085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -196.01715207219206, + 233.03085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -193.41907586083875, + 234.53085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -190.82099964948543, + 236.03085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -188.2229234381321, + 237.53085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.6248472267788, + 239.03085572220803, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -185.6248472267788, + 239.03085572220803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -184.1248472267788, + 241.62893193356135, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -182.6248472267788, + 244.22700814491466, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -181.1248472267788, + 246.82508435626798, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.6248472267788, + 249.4231605676213, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -178.1248472267788, + 252.0212367789746, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.6248472267788, + 254.61931299032793, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -175.1248472267788, + 257.21738920168127, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -173.6248472267788, + 259.8154654130346, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -172.1248472267788, + 262.4135416243879, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.6248472267788, + 265.0116178357412, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -169.1248472267788, + 267.60969404709454, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -167.6248472267788, + 270.20777025844785, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -166.1248472267788, + 272.80584646980117, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -164.6248472267788, + 275.4039226811545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -163.1248472267788, + 278.0019988925078, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.6248472267788, + 280.6000751038611, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -160.1248472267788, + 283.19815131521443, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -158.6248472267788, + 285.79622752656775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -157.1248472267788, + 288.39430373792106, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -155.6248472267788, + 290.9923799492744, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -154.1248472267788, + 293.5904561606277, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -152.6248472267788, + 296.188532371981, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.1248472267788, + 298.7866085833343, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -149.6248472267788, + 301.38468479468764, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.1248472267788, + 303.98276100604096, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 344.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-0-32_1145151225/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-0-32_1145151225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36ebd0e2c3e93405907e4e5d11fdd045cb1b58b2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-0-32_1145151225/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -98.43514928820952, + 566.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.03322549956283, + 565.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.63130171091615, + 563.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -106.22937792226946, + 562.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -108.82745413362278, + 560.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.4255303449761, + 559.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -114.02360655632941, + 557.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -116.62168276768273, + 556.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.21975897903604, + 554.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.81783519038936, + 553.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -124.41591140174268, + 551.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -127.01398761309599, + 550.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.6120638244493, + 548.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -132.21014003580262, + 547.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.80821624715594, + 545.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -137.40629245850926, + 544.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -140.00436866986257, + 542.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.6024448812159, + 541.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -145.2005210925692, + 539.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -147.79859730392252, + 538.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -150.39667351527584, + 536.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -152.99474972662915, + 535.0017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -155.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -155.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -158.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -161.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -164.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -167.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -170.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -173.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -176.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -179.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -182.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -185.59282593798247, + 533.5017328969572, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + 516.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-20-25_1221389873/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-20-25_1221389873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..224fe326d0f622a85f700f8925365c7ffb91954f --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-20-25_1221389873/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1779.027506550481, + 210.3787761253705, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1780.527506550481, + 207.7806999140172, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1782.027506550481, + 205.18262370266388, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1783.527506550481, + 202.58454749131056, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1785.027506550481, + 199.98647127995724, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1785.027506550481, + 199.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1785.027506550481, + 196.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1785.027506550481, + 193.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1785.027506550481, + 190.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1785.027506550481, + 187.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1785.027506550481, + 184.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1785.027506550481, + 181.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1785.027506550481, + 178.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1785.027506550481, + 175.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1785.027506550481, + 172.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1785.027506550481, + 169.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1785.027506550481, + 166.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1785.027506550481, + 163.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1785.027506550481, + 160.98647127995724, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1785.027506550481, + 160.98647127995724, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1785.027506550481, + 160.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1787.6255827618343, + 159.48647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1790.2236589731876, + 157.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1792.821735184541, + 156.48647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1795.4198113958944, + 154.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1798.0178876072478, + 153.48647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1800.6159638186011, + 151.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1803.2140400299545, + 150.48647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1805.8121162413079, + 148.98647127995724, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1805.8121162413079, + 148.98647127995724, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1807.3121162413079, + 146.38839506860393, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1808.8121162413079, + 143.7903188572506, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1810.3121162413079, + 141.1922426458973, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1811.8121162413079, + 138.59416643454398, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1813.3121162413079, + 135.99609022319066, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1814.8121162413079, + 133.39801401183735, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1814.8121162413079, + 133.39801401183735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1817.4101924526612, + 131.89801401183735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1820.0082686640146, + 130.39801401183735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1822.606344875368, + 128.89801401183735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1825.2044210867214, + 127.39801401183735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1827.8024972980747, + 125.89801401183735, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1836.0, + 108.0, + -29.1778 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-23-0_2089816339/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-23-0_2089816339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3916f8f2deac0d8a355e9dc78cf08b2f98d14f07 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-23-0_2089816339/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 13.794805091167717, + 298.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 11.196728879814401, + 300.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 8.598652668461085, + 301.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 6.000576457107769, + 303.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3.402500245754453, + 304.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 0.8044240344011371, + 306.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1.793652176952179, + 307.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.391728388305495, + 309.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -6.989804599658811, + 310.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -9.587880811012127, + 312.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -12.185957022365443, + 313.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -14.784033233718759, + 315.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -17.382109445072075, + 316.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -19.98018565642539, + 318.2390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -22.578261867778707, + 319.7390731903946, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -22.578261867778707, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -25.578261867778707, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -28.578261867778707, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -31.578261867778707, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -34.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -37.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -40.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -43.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -46.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -49.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -52.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -55.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -58.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -61.57826186777871, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -64.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -67.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -70.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -76.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -79.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -82.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -82.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -82.5782618677787, + 319.7390731903946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -84.0782618677787, + 322.3371494017479, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -85.5782618677787, + 324.93522561310124, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -87.0782618677787, + 327.53330182445455, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -88.5782618677787, + 330.13137803580787, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -90.0782618677787, + 332.7294542471612, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -90.0782618677787, + 332.7294542471612, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -92.67633807913202, + 334.2294542471612, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -95.27441429048534, + 335.7294542471612, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 344.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-46_1017565625/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-46_1017565625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7cc857744afe2a2237676a529b937a4545714d3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-46_1017565625/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 734.1492059718285, + 631.35019783929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 736.7472821831818, + 629.85019783929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 739.3453583945352, + 628.35019783929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 741.9434346058886, + 626.85019783929, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 741.9434346058886, + 626.85019783929, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 743.4434346058886, + 624.2521216279367, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 744.9434346058886, + 621.6540454165834, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 746.4434346058886, + 619.05596920523, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 747.9434346058886, + 616.4578929938766, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 749.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 749.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 749.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 752.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 755.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 758.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 761.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 764.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 767.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 770.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 773.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 776.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 779.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 779.4434346058886, + 613.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 782.0415108172419, + 615.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 784.6395870285953, + 616.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 787.2376632399487, + 618.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 789.8357394513021, + 619.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 792.4338156626554, + 621.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 795.0318918740088, + 622.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 797.6299680853622, + 624.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 800.2280442967156, + 625.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 802.8261205080689, + 627.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 805.4241967194223, + 628.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 808.0222729307757, + 630.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 810.620349142129, + 631.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 813.2184253534824, + 633.3598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 815.8165015648358, + 634.8598167825232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 818.4145777761892, + 636.3598167825232, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 640.0, + 1.62652 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-26-40_609707131/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-26-40_609707131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1659797b628dab67bcd7ecd367aca12b97d239cc --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-26-40_609707131/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1725.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1728.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1731.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1734.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1737.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1740.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1743.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1746.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1749.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1752.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1755.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1758.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1761.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1764.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1767.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1770.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1773.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1776.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1779.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1782.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1785.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1785.4492275467185, + 937.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1788.0473037580718, + 935.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1790.6453799694252, + 934.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1793.2434561807786, + 932.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1795.841532392132, + 931.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1798.4396086034853, + 929.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1801.0376848148387, + 928.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1803.635761026192, + 926.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1806.2338372375455, + 925.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1808.8319134488988, + 923.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1811.4299896602522, + 922.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1814.0280658716056, + 920.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1816.626142082959, + 919.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1819.2242182943123, + 917.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1821.8222945056657, + 916.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1824.420370717019, + 914.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1827.0184469283724, + 913.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1829.6165231397258, + 911.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1832.2145993510792, + 910.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1834.8126755624326, + 908.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1837.410751773786, + 907.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1840.0088279851393, + 905.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1842.6069041964927, + 904.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1845.204980407846, + 902.807777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1847.8030566191994, + 901.307777704519, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1847.8030566191994, + 901.307777704519, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1849.3030566191994, + 898.7097014931658, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 892.0, + -29.242 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-28-21_1199420528/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-28-21_1199420528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f2e009a816d3ee2968e6886bab42d532c51050d --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-28-21_1199420528/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 558.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 561.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 564.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 567.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 570.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 573.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 576.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 579.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 582.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 585.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 588.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 591.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 594.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 597.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 600.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 603.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 606.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 609.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 612.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 615.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 618.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 621.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 624.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 627.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 630.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 633.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 636.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 639.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 642.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 645.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 648.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 651.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 651.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 651.9729658314762, + 725.0586234325662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 653.4729658314762, + 722.4605472212129, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 654.9729658314762, + 719.8624710098595, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 656.4729658314762, + 717.2643947985061, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 657.9729658314762, + 714.6663185871528, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 659.4729658314762, + 712.0682423757994, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 660.9729658314762, + 709.470166164446, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 660.9729658314762, + 709.470166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 663.5710420428295, + 707.970166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 666.1691182541829, + 706.470166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 668.7671944655362, + 704.970166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 671.3652706768896, + 703.470166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 673.963346888243, + 701.970166164446, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 676.5614230995964, + 700.470166164446, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 696.0, + -30.1697 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-29-18_753959819/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-29-18_753959819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c34010da14b2da0153b941ed405459ff251f364 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-29-18_753959819/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 864.5585447509108, + 697.0569698155133, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 863.0585447509108, + 699.6550460268666, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 861.5585447509108, + 702.2531222382199, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 860.0585447509108, + 704.8511984495733, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 858.5585447509108, + 707.4492746609267, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 857.0585447509108, + 710.04735087228, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 855.5585447509108, + 712.6454270836334, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 854.0585447509108, + 715.2435032949868, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 852.5585447509108, + 717.8415795063402, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 851.0585447509108, + 720.4396557176935, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 849.5585447509108, + 723.0377319290469, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 848.0585447509108, + 725.6358081404003, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 846.5585447509108, + 728.2338843517537, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 845.0585447509108, + 730.831960563107, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 843.5585447509108, + 733.4300367744604, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 842.0585447509108, + 736.0281129858138, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 840.5585447509108, + 738.6261891971672, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 839.0585447509108, + 741.2242654085205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 837.5585447509108, + 743.8223416198739, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 836.0585447509108, + 746.4204178312273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 834.5585447509108, + 749.0184940425806, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 833.0585447509108, + 751.616570253934, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 831.5585447509108, + 754.2146464652874, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 830.0585447509108, + 756.8127226766408, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 828.5585447509108, + 759.4107988879941, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 827.0585447509108, + 762.0088750993475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 825.5585447509108, + 764.6069513107009, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 824.0585447509108, + 767.2050275220543, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 822.5585447509108, + 769.8031037334076, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 821.0585447509108, + 772.401179944761, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 819.5585447509108, + 774.9992561561144, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 818.0585447509108, + 777.5973323674677, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 816.5585447509108, + 780.1954085788211, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 815.0585447509108, + 782.7934847901745, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 813.5585447509108, + 785.3915610015279, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 812.0585447509108, + 787.9896372128812, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 810.5585447509108, + 790.5877134242346, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 809.0585447509108, + 793.185789635588, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 807.5585447509108, + 795.7838658469414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 806.0585447509108, + 798.3819420582947, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 824.0, + -28.3014 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-32-43_306851320/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-32-43_306851320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e182517a8d96c90a5d10c9753a9b3a070584cb46 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-32-43_306851320/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.4575085628862, + -249.51089204389547, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.9575085628862, + -252.10896825524878, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 90.9575085628862, + -252.10896825524878, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 88.35943235153289, + -253.60896825524878, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.76135614017957, + -255.10896825524878, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.76135614017957, + -255.10896825524878, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.26135614017957, + -257.7070444666021, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 82.76135614017957, + -260.3051206779554, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.26135614017957, + -262.90319688930873, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.76135614017957, + -265.50127310066205, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.76135614017957, + -265.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 79.76135614017957, + -268.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 79.76135614017957, + -271.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.76135614017957, + -274.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 79.76135614017957, + -277.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 79.76135614017957, + -280.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 79.76135614017957, + -283.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 79.76135614017957, + -286.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 79.76135614017957, + -289.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.76135614017957, + -292.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 79.76135614017957, + -295.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 79.76135614017957, + -298.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 79.76135614017957, + -301.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 79.76135614017957, + -304.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 79.76135614017957, + -307.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 79.76135614017957, + -310.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 79.76135614017957, + -313.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 79.76135614017957, + -316.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 79.76135614017957, + -319.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 79.76135614017957, + -322.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 79.76135614017957, + -325.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 79.76135614017957, + -328.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 79.76135614017957, + -331.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 79.76135614017957, + -334.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 79.76135614017957, + -337.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 79.76135614017957, + -340.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 79.76135614017957, + -343.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 79.76135614017957, + -346.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 79.76135614017957, + -349.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 79.76135614017957, + -352.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 79.76135614017957, + -355.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 79.76135614017957, + -358.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 79.76135614017957, + -361.50127310066205, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 79.76135614017957, + -364.50127310066205, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 80.0, + -384.0, + 0.299492 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-45-35_599529154/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-45-35_599529154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4068a95c1aeb0ef403f180421cda8c439fe39e1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-45-35_599529154/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 940.135543553868, + 951.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 937.5374673425147, + 953.3570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 934.9393911311613, + 954.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 932.3413149198079, + 956.3570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 929.7432387084546, + 957.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 927.1451624971012, + 959.3570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 924.5470862857478, + 960.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 921.9490100743944, + 962.3570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 919.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 919.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 916.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 913.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 910.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 907.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 904.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 901.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 898.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 895.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 892.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 889.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 886.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 883.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 880.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 877.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 874.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 871.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 868.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 868.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 868.3509338630411, + 963.8570370096493, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 866.8509338630411, + 966.4551132210026, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 865.3509338630411, + 969.053189432356, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 863.8509338630411, + 971.6512656437094, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 862.3509338630411, + 974.2493418550628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 860.8509338630411, + 976.8474180664161, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 988.0, + -0.816864 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-46-22_1759592334/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-46-22_1759592334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ec3ff9e58a74649a4d42b46de7d585dc312e567 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-46-22_1759592334/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 362.58127201971354, + -141.15697045725807, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 361.08127201971354, + -138.55889424590475, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 359.58127201971354, + -135.96081803455144, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 358.08127201971354, + -133.36274182319812, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 356.58127201971354, + -130.7646656118448, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.08127201971354, + -128.1665894004915, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 353.58127201971354, + -125.56851318913817, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 352.08127201971354, + -122.97043697778486, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 350.58127201971354, + -120.37236076643154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.08127201971354, + -117.77428455507822, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 347.58127201971354, + -115.17620834372491, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 346.08127201971354, + -112.57813213237159, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.58127201971354, + -109.98005592101828, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 343.08127201971354, + -107.38197970966496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.58127201971354, + -104.78390349831164, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 340.08127201971354, + -102.18582728695833, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 338.58127201971354, + -99.58775107560501, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 337.08127201971354, + -96.9896748642517, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 335.58127201971354, + -94.39159865289838, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 334.08127201971354, + -91.79352244154506, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 332.58127201971354, + -89.19544623019175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.08127201971354, + -86.59737001883843, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 329.58127201971354, + -83.99929380748512, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.08127201971354, + -81.4012175961318, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.58127201971354, + -78.80314138477848, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 325.08127201971354, + -76.20506517342517, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 325.08127201971354, + -76.20506517342517, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 322.4831958083602, + -74.70506517342517, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 319.8851195970069, + -73.20506517342517, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.2870433856536, + -71.70506517342517, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -44.0, + 1.41541 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-54-42_1353668775/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-54-42_1353668775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64406fa3a970c1edec278016ca8728609e6bb7a1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-54-42_1353668775/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1713.671359291323, + 353.1068663853059, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1715.171359291323, + 350.5087901739526, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1716.671359291323, + 347.9107139625993, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1718.171359291323, + 345.312637751246, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1719.671359291323, + 342.71456153989266, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1721.171359291323, + 340.11648532853934, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1722.671359291323, + 337.518409117186, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1724.171359291323, + 334.9203329058327, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1725.671359291323, + 332.3222566944794, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1727.171359291323, + 329.7241804831261, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1728.671359291323, + 327.12610427177276, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1730.171359291323, + 324.52802806041944, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1731.671359291323, + 321.92995184906613, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1733.171359291323, + 319.3318756377128, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.671359291323, + 316.7337994263595, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1736.171359291323, + 314.1357232150062, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1737.671359291323, + 311.53764700365286, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1739.171359291323, + 308.93957079229955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1740.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1740.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1740.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1743.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1746.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1749.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1752.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1755.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1758.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1761.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1764.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1767.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1770.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1773.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1776.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1779.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1782.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1785.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1788.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1791.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1794.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1797.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1800.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1803.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1806.671359291323, + 306.34149458094623, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-57-40_234799752/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-57-40_234799752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10fec2d6e8f5ddb7f162ec63553fa89a3e413bc2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-57-40_234799752/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1231.578250599904, + 92.94516347877648, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1230.078250599904, + 90.34708726742316, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1230.078250599904, + 90.34708726742316, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1230.078250599904, + 87.34708726742316, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1204.0, + -4.0, + -29.537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-7-17_888482339/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-7-17_888482339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cb98f8958015dd8a22abff5376954b65f6d9a34 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-7-17_888482339/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1708.711049085752, + 101.56309380406636, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1710.211049085752, + 98.96501759271304, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1711.711049085752, + 96.36694138135972, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1713.211049085752, + 93.7688651700064, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1714.711049085752, + 91.17078895865309, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1716.211049085752, + 88.57271274729978, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1716.211049085752, + 88.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1718.8091252971053, + 87.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1721.4072015084587, + 85.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1724.005277719812, + 84.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1726.6033539311654, + 82.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1729.2014301425188, + 81.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1731.7995063538722, + 79.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1734.3975825652255, + 78.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1736.995658776579, + 76.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1739.5937349879323, + 75.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1742.1918111992857, + 73.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1744.789887410639, + 72.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1747.3879636219924, + 70.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1749.9860398333458, + 69.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1752.5841160446992, + 67.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1755.1821922560525, + 66.07271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1757.780268467406, + 64.57271274729978, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1760.3783446787593, + 63.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1762.9764208901126, + 61.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1765.574497101466, + 60.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1768.1725733128194, + 58.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1770.7706495241728, + 57.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1773.3687257355261, + 55.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1775.9668019468795, + 54.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1778.564878158233, + 52.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1781.1629543695863, + 51.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1783.7610305809396, + 49.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1786.359106792293, + 48.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1788.9571830036464, + 46.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1791.5552592149998, + 45.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1794.1533354263531, + 43.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1796.7514116377065, + 42.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1799.3494878490599, + 40.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1801.9475640604132, + 39.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1804.5456402717666, + 37.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1807.14371648312, + 36.072712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1809.7417926944734, + 34.572712747299775, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1812.3398689058267, + 33.072712747299775, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-26_1874960596/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-26_1874960596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35df08b47435fffe354bd1229ce3d012cf878dd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-26_1874960596/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1634.377907941871, + 288.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1634.377907941871, + 291.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1634.377907941871, + 294.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1634.377907941871, + 297.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1634.377907941871, + 300.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1634.377907941871, + 303.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1634.377907941871, + 306.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1634.377907941871, + 309.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1634.377907941871, + 312.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1634.377907941871, + 315.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1634.377907941871, + 318.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1634.377907941871, + 321.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1634.377907941871, + 324.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1634.377907941871, + 327.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1634.377907941871, + 330.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1634.377907941871, + 333.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1634.377907941871, + 336.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1634.377907941871, + 339.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1634.377907941871, + 342.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1634.377907941871, + 345.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1634.377907941871, + 348.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1634.377907941871, + 351.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1634.377907941871, + 354.5908548987296, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1634.377907941871, + 354.5908548987296, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1635.877907941871, + 357.18893111008293, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1637.377907941871, + 359.78700732143625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1638.877907941871, + 362.38508353278957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1640.377907941871, + 364.9831597441429, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1641.877907941871, + 367.5812359554962, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1643.377907941871, + 370.1793121668495, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1644.877907941871, + 372.77738837820283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1646.377907941871, + 375.37546458955615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1647.877907941871, + 377.97354080090946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1649.377907941871, + 380.5716170122628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1650.877907941871, + 383.1696932236161, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 408.0, + -29.5391 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-17-33_313823293/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-17-33_313823293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..509778f41568b6144874c8954f5696cf337f5bd5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-17-33_313823293/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1598.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1592.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1589.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1586.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1583.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1580.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1577.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1574.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1571.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1568.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1565.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1562.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1559.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1556.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1553.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1550.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1547.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1544.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1541.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1538.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1535.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1532.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1529.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1526.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1523.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1523.3101632963428, + 210.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1520.7120870849894, + 209.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1518.114010873636, + 207.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1515.5159346622827, + 206.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1512.9178584509293, + 204.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1510.319782239576, + 203.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1507.7217060282226, + 201.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1505.1236298168692, + 200.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1502.5255536055158, + 198.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1499.9274773941625, + 197.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1497.329401182809, + 195.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1494.7313249714557, + 194.33432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1492.1332487601023, + 192.83432592109946, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1492.1332487601023, + 192.83432592109946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1490.6332487601023, + 190.23624970974615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1489.1332487601023, + 187.63817349839283, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1464.0, + 180.0, + -27.5654 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-18_224048977/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-18_224048977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6452c8e9588325b987f05bd00c90faf59741306 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-18_224048977/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1265.5352573211844, + -252.5339498175431, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1264.0352573211844, + -249.93587360618977, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1262.5352573211844, + -247.33779739483646, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1261.0352573211844, + -244.73972118348314, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1259.5352573211844, + -242.14164497212982, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1259.5352573211844, + -242.14164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1256.937181109831, + -240.64164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1254.3391048984777, + -239.14164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1251.7410286871243, + -237.64164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1249.142952475771, + -236.14164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1246.5448762644176, + -234.64164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1243.9468000530642, + -233.14164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1241.3487238417108, + -231.64164497212982, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1241.3487238417108, + -231.64164497212982, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1239.8487238417108, + -229.0435687607765, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1238.3487238417108, + -226.4454925494232, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1236.8487238417108, + -223.84741633806988, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1235.3487238417108, + -221.24934012671656, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1233.8487238417108, + -218.65126391536324, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1232.3487238417108, + -216.05318770400993, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1230.8487238417108, + -213.4551114926566, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1229.3487238417108, + -210.8570352813033, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1227.8487238417108, + -208.25895906994998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1226.3487238417108, + -205.66088285859666, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1224.8487238417108, + -203.06280664724335, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1223.3487238417108, + -200.46473043589003, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1221.8487238417108, + -197.86665422453672, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1220.3487238417108, + -195.2685780131834, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1200.0, + -172.0, + -33.4366 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-34_253674535/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-34_253674535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce3fa59dea25e27fe6a57eedf6d118da41a7869b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-31-34_253674535/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -149.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -146.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -143.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -140.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -137.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -134.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -131.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -128.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -125.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -122.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -119.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -116.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -110.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -98.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -95.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -92.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -89.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -86.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -83.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -80.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -77.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -74.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -71.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -68.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -65.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -65.01529445240618, + -214.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -62.417218241052865, + -216.07233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -59.81914202969955, + -217.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -57.22106581834623, + -219.07233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -54.62298960699292, + -220.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -52.0249133956396, + -222.07233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -49.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -49.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -46.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -43.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -40.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -37.426837184286285, + -223.57233340874006, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -224.0, + -27.925 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-34-9_1438865740/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-34-9_1438865740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a969040cbf7b7f8bac2990e10eae3fb26d82bade --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-34-9_1438865740/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1744.7981124186965, + 759.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1744.7981124186965, + 756.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1744.7981124186965, + 753.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1744.7981124186965, + 750.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1744.7981124186965, + 747.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1744.7981124186965, + 744.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1744.7981124186965, + 741.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1744.7981124186965, + 738.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1744.7981124186965, + 735.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1744.7981124186965, + 732.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1744.7981124186965, + 729.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1744.7981124186965, + 726.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1744.7981124186965, + 723.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1744.7981124186965, + 720.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1744.7981124186965, + 717.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1744.7981124186965, + 714.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1744.7981124186965, + 711.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1744.7981124186965, + 708.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1744.7981124186965, + 705.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1744.7981124186965, + 702.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1744.7981124186965, + 699.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1744.7981124186965, + 696.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1744.7981124186965, + 693.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1744.7981124186965, + 690.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1744.7981124186965, + 687.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1744.7981124186965, + 684.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1744.7981124186965, + 681.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1744.7981124186965, + 678.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1744.7981124186965, + 675.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1744.7981124186965, + 672.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1744.7981124186965, + 669.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1744.7981124186965, + 666.9086453674444, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1744.7981124186965, + 666.9086453674444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1746.2981124186965, + 664.3105691560911, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1747.7981124186965, + 661.7124929447377, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1749.2981124186965, + 659.1144167333844, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1750.7981124186965, + 656.516340522031, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 640.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-4-42_1233114544/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-4-42_1233114544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ff2608e5290c6adcf4b4805e70205a98bf8706e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-4-42_1233114544/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 672.0768688271714, + 411.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 672.0768688271714, + 408.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 672.0768688271714, + 405.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 672.0768688271714, + 402.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 672.0768688271714, + 399.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 672.0768688271714, + 396.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 672.0768688271714, + 393.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 672.0768688271714, + 390.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 672.0768688271714, + 387.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 672.0768688271714, + 384.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 672.0768688271714, + 381.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 672.0768688271714, + 378.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 672.0768688271714, + 375.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 672.0768688271714, + 372.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 672.0768688271714, + 369.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 672.0768688271714, + 366.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.0768688271714, + 363.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 672.0768688271714, + 360.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 672.0768688271714, + 357.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 672.0768688271714, + 354.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 672.0768688271714, + 351.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 672.0768688271714, + 348.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 672.0768688271714, + 345.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 672.0768688271714, + 342.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 672.0768688271714, + 339.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 672.0768688271714, + 336.6138203072751, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 672.0768688271714, + 336.6138203072751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 673.5768688271714, + 334.0157440959218, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 675.0768688271714, + 331.41766788456846, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 676.5768688271714, + 328.81959167321514, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 678.0768688271714, + 326.2215154618618, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 679.5768688271714, + 323.6234392505085, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 681.0768688271714, + 321.0253630391552, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 682.5768688271714, + 318.4272868278019, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 684.0768688271714, + 315.82921061644856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 685.5768688271714, + 313.23113440509525, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 687.0768688271714, + 310.63305819374193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 688.5768688271714, + 308.0349819823886, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 690.0768688271714, + 305.4369057710353, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 691.5768688271714, + 302.838829559682, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-40-17_1917104697/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-40-17_1917104697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..662d8faa49254d03d394dc8fa214b371394f0203 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-40-17_1917104697/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1021.9446501697968, + 24.678528151108523, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1020.4446501697968, + 27.27660436246184, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1018.9446501697968, + 29.874680573815155, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1017.4446501697968, + 32.47275678516847, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1015.9446501697968, + 35.07083299652179, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1014.4446501697968, + 37.6689092078751, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1012.9446501697968, + 40.26698541922842, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1011.4446501697968, + 42.865061630581735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1009.9446501697968, + 45.46313784193505, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1008.4446501697968, + 48.06121405328837, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1006.9446501697968, + 50.65929026464168, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1006.9446501697968, + 50.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1004.3465739584435, + 52.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1001.7484977470901, + 53.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 999.1504215357368, + 55.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 996.5523453243834, + 56.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 993.95426911303, + 58.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 991.3561929016766, + 59.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 988.7581166903233, + 61.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 986.1600404789699, + 62.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 983.5619642676165, + 64.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 980.9638880562632, + 65.65929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 978.3658118449098, + 67.15929026464168, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 978.3658118449098, + 67.15929026464168, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 976.8658118449098, + 69.757366475995, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 975.3658118449098, + 72.35544268734832, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 973.8658118449098, + 74.95351889870163, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 972.3658118449098, + 77.55159511005495, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 970.8658118449098, + 80.14967132140826, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 104.0, + -29.3651 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-53-14_192433878/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-53-14_192433878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c59b5f34862992347f082ca0f8319dc0bf0c4f20 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-53-14_192433878/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 578.5395967755096, + 380.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 575.9415205641562, + 382.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 573.3434443528029, + 383.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 570.7453681414495, + 385.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 568.1472919300961, + 386.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 565.5492157187427, + 388.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 562.9511395073894, + 389.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 560.353063296036, + 391.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 557.7549870846826, + 392.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 555.1569108733293, + 394.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 552.5588346619759, + 395.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 549.9607584506225, + 397.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 547.3626822392691, + 398.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 544.7646060279158, + 400.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 542.1665298165624, + 401.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 539.568453605209, + 403.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 536.9703773938556, + 404.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 534.3723011825023, + 406.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 531.7742249711489, + 407.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 529.1761487597955, + 409.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 526.5780725484422, + 410.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 523.9799963370888, + 412.0502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 521.3819201257354, + 413.5502921226924, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 521.3819201257354, + 413.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 518.3819201257354, + 413.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 515.3819201257354, + 413.5502921226924, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 512.3819201257354, + 413.5502921226924, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + 440.0, + -34.1924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-51_1904251768/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-51_1904251768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f0ecb517de1c1a583ffcb8f8e97fb6c83ddd59c --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-51_1904251768/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 673.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 676.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 679.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 682.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 685.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 688.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 691.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 694.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 697.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 700.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 703.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 706.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 709.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 712.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 715.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 718.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 721.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 721.2128506125421, + 316.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 723.8109268238954, + 314.70068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 726.4090030352488, + 313.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 729.0070792466022, + 311.70068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 731.6051554579556, + 310.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 734.2032316693089, + 308.70068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 736.8013078806623, + 307.20068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 739.3993840920157, + 305.70068048478686, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 741.997460303369, + 304.20068048478686, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 296.0, + 1.28039 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-7_204428608/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-7_204428608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..533ffbce20c0c4cf04e510ea8e274f1515db1eb0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-59-7_204428608/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 305.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 302.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 299.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 296.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 281.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 278.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 275.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 272.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 266.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 263.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 260.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 257.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 254.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 251.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 248.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 245.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 236.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 236.91653834489614, + -346.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 234.31846213354282, + -344.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 231.7203859221895, + -343.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 229.1223097108362, + -341.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 226.52423349948288, + -340.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.92615728812956, + -338.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.32808107677624, + -337.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 218.73000486542293, + -335.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 216.1319286540696, + -334.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 213.5338524427163, + -332.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 210.93577623136298, + -331.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 208.33770002000966, + -329.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 205.73962380865635, + -328.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 203.14154759730303, + -326.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 200.54347138594972, + -325.46617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 197.9453951745964, + -323.96617229882855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 195.34731896324308, + -322.46617229882855, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -316.0, + -29.9979 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-1-15_1569654968/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-1-15_1569654968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bcd5132665fcadcf8144a0170e1d86155266b8a8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-1-15_1569654968/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1930.1446440154862, + 101.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1932.7427202268395, + 99.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1935.340796438193, + 98.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1937.9388726495463, + 96.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1940.5369488608997, + 95.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1943.135025072253, + 93.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1945.7331012836064, + 92.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1948.3311774949598, + 90.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1950.9292537063131, + 89.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1953.5273299176665, + 87.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1956.12540612902, + 86.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1958.7234823403733, + 84.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1961.3215585517266, + 83.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1963.91963476308, + 81.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1966.5177109744334, + 80.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1969.1157871857868, + 78.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1971.7138633971401, + 77.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1974.3119396084935, + 75.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1976.9100158198469, + 74.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1979.5080920312002, + 72.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1982.1061682425536, + 71.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1984.704244453907, + 69.75965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1987.3023206652604, + 68.25965867051217, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1987.3023206652604, + 68.25965867051217, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1988.8023206652604, + 65.66158245915885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1990.3023206652604, + 63.063506247805535, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1991.8023206652604, + 60.46543003645222, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1993.3023206652604, + 57.8673538250989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1994.8023206652604, + 55.26927761374559, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1996.3023206652604, + 52.67120140239227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1997.8023206652604, + 50.073125191038955, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-15-2_1238138000/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-15-2_1238138000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63830e47b3c2395cc4dc800004fc9bf56aead1cc --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-15-2_1238138000/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 730.878301895674, + 299.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 728.2802256843206, + 300.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 725.6821494729672, + 302.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 723.0840732616139, + 303.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 720.4859970502605, + 305.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 717.8879208389071, + 306.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 715.2898446275537, + 308.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 712.6917684162004, + 309.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 710.093692204847, + 311.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 707.4956159934936, + 312.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 704.8975397821403, + 314.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 702.2994635707869, + 315.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 699.7013873594335, + 317.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 697.1033111480801, + 318.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 694.5052349367268, + 320.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 691.9071587253734, + 321.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 689.30908251402, + 323.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 686.7110063026666, + 324.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 684.1129300913133, + 326.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 681.5148538799599, + 327.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 678.9167776686065, + 329.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 676.3187014572532, + 330.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 673.7206252458998, + 332.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 671.1225490345464, + 333.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 668.524472823193, + 335.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 665.9263966118397, + 336.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 663.3283204004863, + 338.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 660.7302441891329, + 339.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 658.1321679777795, + 341.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 655.5340917664262, + 342.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 652.9360155550728, + 344.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 650.3379393437194, + 345.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 647.739863132366, + 347.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 645.1417869210127, + 348.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 642.5437107096593, + 350.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 639.9456344983059, + 351.58004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 637.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 637.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 634.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 631.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 628.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 625.3475582869526, + 353.08004674418044, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 600.0, + 364.0, + -30.1696 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-45_614340012/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-45_614340012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..009354ca1955053da3c6acea375a2a9e0b9026d0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-45_614340012/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 604.4679836367487, + 64.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 607.066059848102, + 66.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 609.6641360594554, + 67.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 612.2622122708087, + 69.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 614.8602884821621, + 70.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 617.4583646935155, + 72.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 620.0564409048689, + 73.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 622.6545171162222, + 75.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 625.2525933275756, + 76.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 627.850669538929, + 78.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 630.4487457502823, + 79.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 633.0468219616357, + 81.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 635.6448981729891, + 82.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 638.2429743843425, + 84.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 640.8410505956958, + 85.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 643.4391268070492, + 87.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 646.0372030184026, + 88.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 648.635279229756, + 90.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 651.2333554411093, + 91.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 653.8314316524627, + 93.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 656.4295078638161, + 94.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 659.0275840751694, + 96.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 661.6256602865228, + 97.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 664.2237364978762, + 99.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 666.8218127092296, + 100.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 669.4198889205829, + 102.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 672.0179651319363, + 103.96091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 674.6160413432897, + 105.46091091517263, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 674.6160413432897, + 105.46091091517263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 676.1160413432897, + 108.05898712652595, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 677.6160413432897, + 110.65706333787926, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 124.0, + -33.2522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-17-21_1855103807/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-17-21_1855103807/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c19c09476be602d765696d63d48341bf7e4ad537 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-17-21_1855103807/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1780.7870570832736, + 600.9118537430802, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1782.2870570832736, + 598.3137775317268, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1783.7870570832736, + 595.7157013203735, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1785.2870570832736, + 593.1176251090201, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1786.7870570832736, + 590.5195488976667, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1788.2870570832736, + 587.9214726863133, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1789.7870570832736, + 585.32339647496, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1791.2870570832736, + 582.7253202636066, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1792.7870570832736, + 580.1272440522532, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1794.2870570832736, + 577.5291678408998, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1795.7870570832736, + 574.9310916295465, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1797.2870570832736, + 572.3330154181931, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1798.7870570832736, + 569.7349392068397, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1800.2870570832736, + 567.1368629954864, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1801.7870570832736, + 564.538786784133, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1803.2870570832736, + 561.9407105727796, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1804.7870570832736, + 559.3426343614262, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1804.7870570832736, + 559.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1804.7870570832736, + 556.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1804.7870570832736, + 553.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1804.7870570832736, + 550.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1804.7870570832736, + 547.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1804.7870570832736, + 544.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1804.7870570832736, + 541.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1804.7870570832736, + 538.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1804.7870570832736, + 535.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1804.7870570832736, + 532.3426343614262, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1804.7870570832736, + 529.3426343614262, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1816.0, + 488.0, + -8.00904 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-19-29_278190158/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-19-29_278190158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3b7c890b844e5307f14580c6d3ac75b5acfe4b7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-19-29_278190158/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1727.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1724.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1721.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1718.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1715.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1712.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1709.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1706.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1703.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1700.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1697.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1694.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1691.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1688.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1685.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1682.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1679.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1676.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1673.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1670.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1667.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1664.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1661.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1658.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1655.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1652.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1649.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1646.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1643.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1643.3670867343808, + 70.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1640.7690105230274, + 71.804769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1638.170934311674, + 73.304769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1635.5728581003207, + 74.804769906114, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1632.9747818889673, + 76.304769906114, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + 76.0, + -29.3847 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-25-45_95266356/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-25-45_95266356/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7b086e3f53cd49fa081da38b85bd03695241336 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-25-45_95266356/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 838.6670898543324, + -293.6000786726952, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 837.1670898543324, + -291.0020024613419, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 835.6670898543324, + -288.40392624998856, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 834.1670898543324, + -285.80585003863524, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 832.6670898543324, + -283.2077738272819, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 832.6670898543324, + -283.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 832.6670898543324, + -280.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 832.6670898543324, + -277.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 832.6670898543324, + -274.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 832.6670898543324, + -271.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 832.6670898543324, + -268.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 832.6670898543324, + -265.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 832.6670898543324, + -262.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 832.6670898543324, + -259.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 832.6670898543324, + -256.2077738272819, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 832.6670898543324, + -253.20777382728193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 832.6670898543324, + -250.20777382728193, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 832.6670898543324, + -250.20777382728193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 831.1670898543324, + -247.6096976159286, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 829.6670898543324, + -245.0116214045753, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 828.1670898543324, + -242.41354519322198, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 826.6670898543324, + -239.81546898186866, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 825.1670898543324, + -237.21739277051535, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 823.6670898543324, + -234.61931655916203, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 822.1670898543324, + -232.0212403478087, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 820.6670898543324, + -229.4231641364554, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 819.1670898543324, + -226.82508792510208, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 817.6670898543324, + -224.22701171374877, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 816.1670898543324, + -221.62893550239545, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 814.6670898543324, + -219.03085929104213, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 813.1670898543324, + -216.43278307968882, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 811.6670898543324, + -213.8347068683355, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 810.1670898543324, + -211.2366306569822, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 808.6670898543324, + -208.63855444562887, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 807.1670898543324, + -206.04047823427555, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + -168.0, + -3.30387 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-27-15_897534569/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-27-15_897534569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..062ef6449a5f538357b399f18914539875d71a32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-27-15_897534569/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 601.0171851801158, + 860.5462330096896, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 602.5171851801158, + 857.9481567983362, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 604.0171851801158, + 855.3500805869828, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 605.5171851801158, + 852.7520043756294, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 607.0171851801158, + 850.1539281642761, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 608.5171851801158, + 847.5558519529227, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 610.0171851801158, + 844.9577757415693, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 611.5171851801158, + 842.359699530216, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 613.0171851801158, + 839.7616233188626, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 614.5171851801158, + 837.1635471075092, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 616.0171851801158, + 834.5654708961558, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 617.5171851801158, + 831.9673946848025, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 619.0171851801158, + 829.3693184734491, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 620.5171851801158, + 826.7712422620957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 622.0171851801158, + 824.1731660507423, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 623.5171851801158, + 821.575089839389, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 625.0171851801158, + 818.9770136280356, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 626.5171851801158, + 816.3789374166822, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 628.0171851801158, + 813.7808612053288, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 629.5171851801158, + 811.1827849939755, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 631.0171851801158, + 808.5847087826221, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 631.0171851801158, + 808.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 633.6152613914692, + 807.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 636.2133376028225, + 805.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 638.8114138141759, + 804.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 641.4094900255293, + 802.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 644.0075662368827, + 801.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 646.605642448236, + 799.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 649.2037186595894, + 798.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 651.8017948709428, + 796.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 654.3998710822962, + 795.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 656.9979472936495, + 793.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 659.5960235050029, + 792.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 662.1940997163563, + 790.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 664.7921759277096, + 789.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 667.390252139063, + 787.5847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 669.9883283504164, + 786.0847087826221, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 669.9883283504164, + 786.0847087826221, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 671.4883283504164, + 783.4866325712687, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 672.9883283504164, + 780.8885563599154, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 674.4883283504164, + 778.290480148562, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 675.9883283504164, + 775.6924039372086, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 677.4883283504164, + 773.0943277258552, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 752.0, + -29.9978 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-50-22_1166437685/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-50-22_1166437685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27e7aa29c6b6873cb0ee4c822534b972e185e326 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-50-22_1166437685/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1760.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1763.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1766.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1769.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1772.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1775.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1778.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1781.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1784.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1787.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1790.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1793.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1796.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1796.8434034952547, + 582.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1799.441479706608, + 581.2831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1802.0395559179615, + 579.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1804.6376321293149, + 578.2831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1807.2357083406682, + 576.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1809.8337845520216, + 575.2831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1812.431860763375, + 573.7831219442917, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1812.431860763375, + 573.7831219442917, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1813.931860763375, + 571.1850457329383, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1815.431860763375, + 568.5869695215849, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1816.931860763375, + 565.9888933102316, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1818.431860763375, + 563.3908170988782, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1819.931860763375, + 560.7927408875248, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1821.431860763375, + 558.1946646761714, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-58-11_855320512/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-58-11_855320512/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7decfcf25b3c679f1b8951c0234fb19063fd025 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-58-11_855320512/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.58898143800997, + 54.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.99090522665665, + 53.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 405.39282901530333, + 51.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.79475280395, + 50.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 400.1966765925967, + 48.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 397.5986003812434, + 47.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 395.00052416989007, + 45.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.40244795853675, + 44.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.80437174718344, + 42.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 387.2062955358301, + 41.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 384.6082193244768, + 39.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 382.0101431131235, + 38.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 379.4120669017702, + 36.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 376.81399069041686, + 35.4773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 374.21591447906354, + 33.9773375352097, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.21591447906354, + 33.9773375352097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 372.71591447906354, + 31.379261323856383, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 371.21591447906354, + 28.781185112503067, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 369.71591447906354, + 26.18310890114975, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 368.21591447906354, + 23.585032689796435, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.71591447906354, + 20.98695647844312, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.21591447906354, + 18.388880267089803, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 363.71591447906354, + 15.790804055736487, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.21591447906354, + 13.192727844383171, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 360.71591447906354, + 10.594651633029855, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 359.21591447906354, + 7.996575421676539, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 357.71591447906354, + 5.398499210323223, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 356.21591447906354, + 2.800422998969907, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 354.71591447906354, + 0.20234678761659097, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 353.21591447906354, + -2.395729423736725, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 351.71591447906354, + -4.993805635090041, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 350.21591447906354, + -7.591881846443357, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 348.71591447906354, + -10.189958057796673, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 347.21591447906354, + -12.788034269149989, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 345.71591447906354, + -15.386110480503305, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 344.21591447906354, + -17.98418669185662, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 342.71591447906354, + -20.582262903209937, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 341.21591447906354, + -23.180339114563253, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 339.71591447906354, + -25.77841532591657, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 338.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 338.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 338.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 335.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 332.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 329.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 326.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 323.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 320.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 317.21591447906354, + -28.376491537269885, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -44.0, + 1.41541 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-0-1_2008532428/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-0-1_2008532428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57c14c8a6ff68b6828ff3fe48d4d202e3d18639b --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-0-1_2008532428/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1189.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1192.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1195.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1198.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1201.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1204.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1207.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1210.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1213.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1216.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1219.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1222.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1225.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1228.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1231.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1234.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1237.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1240.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1240.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1240.822750404026, + -46.410187896244175, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1242.322750404026, + -49.00826410759749, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.822750404026, + -51.60634031895081, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1245.322750404026, + -54.20441653030412, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1246.822750404026, + -56.80249274165744, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1246.822750404026, + -56.80249274165744, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1249.4208266153794, + -58.30249274165744, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1252.0189028267328, + -59.80249274165744, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1288.0, + -68.0, + -14.2865 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-10-55_1607967721/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-10-55_1607967721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d04a5b0befa239a6624bba524ddc0c05bf86e13 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-10-55_1607967721/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1163.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1166.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1169.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1172.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1175.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1178.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1181.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1184.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1187.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1190.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1193.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1193.3001931678518, + 923.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1195.8982693792052, + 922.3775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1198.4963455905586, + 920.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1201.094421801912, + 919.3775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1203.6924980132653, + 917.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1206.2905742246187, + 916.3775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1208.888650435972, + 914.8775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1211.4867266473254, + 913.3775471935263, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1211.4867266473254, + 913.3775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1214.4867266473254, + 913.3775471935263, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1217.4867266473254, + 913.3775471935263, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1296.0, + 896.0, + 0.734581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-30_270617569/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-30_270617569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab906362928e53d639a750a15c797d9b58ce4ef9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-30_270617569/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1459.4841709194507, + -7.438076500038562, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1457.9841709194507, + -4.840000288685246, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1456.4841709194507, + -2.24192407733193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1454.9841709194507, + 0.3561521340213858, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1453.4841709194507, + 2.954228345374702, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1451.9841709194507, + 5.552304556728018, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1450.4841709194507, + 8.150380768081334, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1448.9841709194507, + 10.74845697943465, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1447.4841709194507, + 13.346533190787966, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1445.9841709194507, + 15.944609402141282, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1444.4841709194507, + 18.542685613494598, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1442.9841709194507, + 21.140761824847914, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1441.4841709194507, + 23.73883803620123, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1439.9841709194507, + 26.336914247554546, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1438.4841709194507, + 28.934990458907862, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1436.9841709194507, + 31.533066670261178, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1435.4841709194507, + 34.131142881614494, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1433.9841709194507, + 36.72921909296781, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1432.4841709194507, + 39.327295304321126, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1430.9841709194507, + 41.92537151567444, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1430.9841709194507, + 41.92537151567444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1428.3860947080973, + 43.42537151567444, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1425.788018496744, + 44.92537151567444, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 84.0, + -33.482 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-44_861746410/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-44_861746410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..147528cd74f346cbc5799364828310c7e4d65bc3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-11-44_861746410/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1674.6959563142204, + -46.14894095346628, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1673.1959563142204, + -43.550864742112964, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1671.6959563142204, + -40.95278853075965, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1670.1959563142204, + -38.35471231940633, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1668.6959563142204, + -35.756636108053016, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1667.1959563142204, + -33.1585598966997, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1665.6959563142204, + -30.560483685346384, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1664.1959563142204, + -27.962407473993068, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1662.6959563142204, + -25.36433126263975, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1661.1959563142204, + -22.766255051286436, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1659.6959563142204, + -20.16817883993312, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1658.1959563142204, + -17.570102628579804, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1658.1959563142204, + -17.570102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1658.1959563142204, + -14.570102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1658.1959563142204, + -11.570102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1658.1959563142204, + -8.570102628579804, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1658.1959563142204, + -8.570102628579804, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1658.1959563142204, + -8.570102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1655.597880102867, + -7.070102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1652.9998038915137, + -5.570102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1650.4017276801603, + -4.070102628579804, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1647.803651468807, + -2.5701026285798036, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1645.2055752574536, + -1.0701026285798039, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1642.6074990461002, + 0.4298973714201959, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1640.0094228347468, + 1.9298973714201957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1637.4113466233935, + 3.4298973714201955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1634.81327041204, + 4.9298973714201955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1632.2151942006867, + 6.4298973714201955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1629.6171179893333, + 7.9298973714201955, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1627.01904177798, + 9.429897371420195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1624.4209655666266, + 10.929897371420195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1621.8228893552732, + 12.429897371420195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1619.2248131439198, + 13.929897371420195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1616.6267369325665, + 15.429897371420195, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1614.028660721213, + 16.929897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1611.4305845098597, + 18.429897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1608.8325082985064, + 19.929897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1606.234432087153, + 21.429897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1603.6363558757996, + 22.929897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1601.0382796644462, + 24.429897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1598.4402034530929, + 25.929897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1595.8421272417395, + 27.429897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1593.2440510303861, + 28.929897371420193, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1593.2440510303861, + 28.929897371420193, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1590.2440510303861, + 28.929897371420193, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1564.0, + 52.0, + -29.3652 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-2-23_1331565220/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-2-23_1331565220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..264f114a905b11dccfccb9e7c88ca220d16ce08e --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-2-23_1331565220/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1526.240495356078, + 42.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1523.6424191447247, + 44.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1521.0443429333714, + 45.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1518.446266722018, + 47.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1515.8481905106646, + 48.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1513.2501142993112, + 50.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1510.6520380879579, + 51.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1508.0539618766045, + 53.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1505.4558856652511, + 54.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1502.8578094538977, + 56.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1500.2597332425444, + 57.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1497.661657031191, + 59.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1495.0635808198376, + 60.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1492.4655046084843, + 62.41043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1489.8674283971309, + 63.91043968367415, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1487.2693521857775, + 65.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991506 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1484.6712759744241, + 66.91043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1482.0731997630708, + 68.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1479.4751235517174, + 69.91043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1476.877047340364, + 71.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1474.2789711290106, + 72.91043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1471.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1471.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1468.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1465.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1462.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1459.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1456.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1450.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1447.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1444.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1441.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1438.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1435.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1432.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1429.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1426.6808949176573, + 74.41043968367414, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 84.0, + -33.482 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-3-22_1680687005/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-3-22_1680687005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..394e73485f1a627552bb34d70ec7a07c38499e18 --- /dev/null +++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_4-3-22_1680687005/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1637.16153688767, + 299.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1637.16153688767, + 296.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1637.16153688767, + 293.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1637.16153688767, + 290.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1637.16153688767, + 287.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1637.16153688767, + 284.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1637.16153688767, + 281.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1637.16153688767, + 278.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1637.16153688767, + 275.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1637.16153688767, + 272.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1637.16153688767, + 269.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1637.16153688767, + 266.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1637.16153688767, + 263.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1637.16153688767, + 260.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1637.16153688767, + 257.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1637.16153688767, + 254.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1637.16153688767, + 251.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1637.16153688767, + 248.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1637.16153688767, + 245.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1637.16153688767, + 242.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1637.16153688767, + 239.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1637.16153688767, + 236.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1637.16153688767, + 233.56928539818273, + -26.888958510984654 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1637.16153688767, + 233.56928539818273, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1635.66153688767, + 230.9712091868294, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1634.16153688767, + 228.3731329754761, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1632.66153688767, + 225.77505676412278, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1631.16153688767, + 223.17698055276946, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1629.66153688767, + 220.57890434141615, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1628.16153688767, + 217.98082813006283, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1626.66153688767, + 215.38275191870952, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1625.16153688767, + 212.7846757073562, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1623.66153688767, + 210.18659949600288, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1622.16153688767, + 207.58852328464957, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1620.66153688767, + 204.99044707329625, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1619.16153688767, + 202.39237086194294, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1617.66153688767, + 199.79429465058962, + -26.888958510984654 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1617.66153688767, + 199.79429465058962, + -26.888958510984654 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1617.66153688767, + 196.79429465058962, + -26.888958510984654 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}