diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-07-09_406958/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-07-09_406958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a3481e9bb5a88783541e670151fb81a56587e00 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-07-09_406958/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1589.7996414934369, + 720.3009322375638, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1588.2996414934369, + 717.7028560262104, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1586.7996414934369, + 715.104779814857, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1585.2996414934369, + 712.5067036035036, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1583.7996414934369, + 709.9086273921503, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1582.2996414934369, + 707.3105511807969, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1580.7996414934369, + 704.7124749694435, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1579.2996414934369, + 702.1143987580901, + 36.303804556866794 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1579.2996414934369, + 702.1143987580901, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1579.2996414934369, + 699.1143987580901, + 36.303804556866794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1579.2996414934369, + 699.1143987580901, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1577.7996414934369, + 696.5163225467368, + 36.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1576.2996414934369, + 693.9182463353834, + 36.303804556866794 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1576.2996414934369, + 693.9182463353834, + 39.303804556866794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1576.2996414934369, + 693.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1573.7015652820835, + 692.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1571.1034890707301, + 690.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1568.5054128593767, + 689.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1565.9073366480234, + 687.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1563.30926043667, + 686.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1560.7111842253166, + 684.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1558.1131080139633, + 683.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1555.5150318026099, + 681.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1552.9169555912565, + 680.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1550.3188793799031, + 678.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1547.7208031685498, + 677.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1545.1227269571964, + 675.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1542.524650745843, + 674.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1539.9265745344896, + 672.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1537.3284983231363, + 671.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1534.730422111783, + 669.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1532.1323459004295, + 668.4182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1529.5342696890762, + 666.9182463353834, + 39.303804556866794 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1529.5342696890762, + 666.9182463353834, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1528.0342696890762, + 664.32017012403, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1526.5342696890762, + 661.7220939126767, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1525.0342696890762, + 659.1240177013233, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1523.5342696890762, + 656.5259414899699, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1522.0342696890762, + 653.9278652786165, + 39.303804556866794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1520.5342696890762, + 651.3297890672632, + 39.303804556866794 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1520.5342696890762, + 651.3297890672632, + 36.303804556866794 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1500.0, + 632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-09-50_922421/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-09-50_922421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b00cb9f46c26ef37c31623a8ba1bc0c88413b0a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-09-50_922421/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1698.5480714158475, + -667.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1695.9499952044941, + -669.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1693.3519189931408, + -670.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1690.7538427817874, + -672.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1688.155766570434, + -673.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1685.5576903590807, + -675.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1682.9596141477273, + -676.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1680.361537936374, + -678.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1677.7634617250205, + -679.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1675.1653855136672, + -681.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1672.5673093023138, + -682.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1669.9692330909604, + -684.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1667.371156879607, + -685.5148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1664.7730806682537, + -687.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1662.1750044569003, + -688.5148833725036, + 37.45604038774596 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1662.1750044569003, + -688.5148833725036, + 40.45604038774596 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1662.1750044569003, + -688.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1659.576928245547, + -690.0148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1656.9788520341936, + -691.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1654.3807758228402, + -693.0148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1651.7826996114868, + -694.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1649.1846234001334, + -696.0148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1646.58654718878, + -697.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1643.9884709774267, + -699.0148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1641.3903947660733, + -700.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1638.79231855472, + -702.0148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1636.1942423433666, + -703.5148833725036, + 43.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1633.5961661320132, + -705.0148833725036, + 43.45604038774596 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1633.5961661320132, + -705.0148833725036, + 40.45604038774596 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1633.5961661320132, + -705.0148833725036, + 37.45604038774596 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1633.5961661320132, + -705.0148833725036, + 37.45604038774596 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1630.5961661320132, + -705.0148833725036, + 37.45604038774596 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -732.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-18-16_591572/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-18-16_591572/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..360c66668e67d50f5a42c55b6fcc7bbba1ac96a3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-18-16_591572/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1449.08365605371, + 242.2434368264459, + 31.73934400856246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1452.08365605371, + 242.2434368264459, + 31.73934400856246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1455.08365605371, + 242.2434368264459, + 31.73934400856246 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1458.08365605371, + 242.2434368264459, + 31.73934400856246 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1458.08365605371, + 242.2434368264459, + 34.739344008562455 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1458.08365605371, + 242.2434368264459, + 37.739344008562455 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1458.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1461.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1464.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1467.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1470.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1473.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1476.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1479.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1482.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1485.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1488.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1491.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1494.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1497.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1500.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1503.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1503.08365605371, + 242.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1505.6817322650634, + 243.7434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1508.2798084764167, + 245.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1510.8778846877701, + 246.7434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1513.4759608991235, + 248.2434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1516.0740371104769, + 249.7434368264459, + 40.739344008562455 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1518.6721133218302, + 251.2434368264459, + 40.739344008562455 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1518.6721133218302, + 251.2434368264459, + 37.739344008562455 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1518.6721133218302, + 251.2434368264459, + 34.739344008562455 + ], + "type": "go down", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1518.6721133218302, + 251.2434368264459, + 31.739344008562455 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1572.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-23-10_222008/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-23-10_222008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d494c35d1f8e0c8d35bc38fcb3736072b42afdef --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-23-10_222008/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1570.5489142475005, + 1221.8181686630676, + 30.681499343242418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1573.146990458854, + 1220.3181686630676, + 30.681499343242418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1575.7450666702073, + 1218.8181686630676, + 30.681499343242418 + ], + "type": "go up", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1575.7450666702073, + 1218.8181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1578.3431428815607, + 1217.3181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1580.941219092914, + 1215.8181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1583.5392953042674, + 1214.3181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1586.1373715156208, + 1212.8181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1588.7354477269741, + 1211.3181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1591.3335239383275, + 1209.8181686630676, + 33.68149934324242 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1591.3335239383275, + 1209.8181686630676, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1592.8335239383275, + 1207.2200924517142, + 33.68149934324242 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1592.8335239383275, + 1207.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1595.431600149681, + 1205.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1598.0296763610343, + 1204.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1600.6277525723876, + 1202.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1603.225828783741, + 1201.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1605.8239049950944, + 1199.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1608.4219812064478, + 1198.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1611.0200574178011, + 1196.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1613.6181336291545, + 1195.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1616.2162098405079, + 1193.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1618.8142860518612, + 1192.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1621.4123622632146, + 1190.7200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1624.010438474568, + 1189.2200924517142, + 33.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1626.6085146859214, + 1187.7200924517142, + 33.68149934324242 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1626.6085146859214, + 1187.7200924517142, + 30.68149934324242 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1626.6085146859214, + 1187.7200924517142, + 30.68149934324242 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1628.1085146859214, + 1185.1220162403608, + 30.68149934324242 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-33-47_379628/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-33-47_379628/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..454382aa9e3832d75170bc55a2c72cb9ab0106b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-33-47_379628/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1164.4717085948703, + -795.9270781996421, + 39.34969687829485 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1164.4717085948703, + -795.9270781996421, + 42.34969687829485 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1164.4717085948703, + -795.9270781996421, + 42.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1161.873632383517, + -794.4270781996421, + 42.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1159.2755561721635, + -792.9270781996421, + 42.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1156.6774799608102, + -791.4270781996421, + 42.34969687829485 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1156.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1156.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1153.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1150.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1147.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1144.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1141.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1138.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1135.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1132.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1129.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1126.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1123.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1120.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1117.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1114.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1111.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1108.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1105.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1102.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1099.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1096.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1093.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1090.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1087.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1084.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1081.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1078.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1075.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1072.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1069.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1066.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1063.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1060.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1057.6774799608102, + -791.4270781996421, + 45.34969687829485 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1057.6774799608102, + -791.4270781996421, + 42.34969687829485 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1057.6774799608102, + -791.4270781996421, + 39.34969687829485 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1054.6774799608102, + -791.4270781996421, + 39.34969687829485 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-35-05_620450/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-35-05_620450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6649c2b2bda4d79e4e61bb9e51512e0df7f857a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-35-05_620450/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1686.6946983144978, + 1004.3232187363127, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1688.1946983144978, + 1001.7251425249594, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1689.6946983144978, + 999.1270663136061, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1691.1946983144978, + 996.5289901022527, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1692.6946983144978, + 993.9309138908993, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1694.1946983144978, + 991.332837679546, + 26.308789135793283 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1694.1946983144978, + 991.332837679546, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1696.7927745258512, + 989.832837679546, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 26.308789135793283 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 29.308789135793283 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 32.30878913579328 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 35.30878913579328 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 38.30878913579328 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1699.3908507372046, + 988.332837679546, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1700.8908507372046, + 985.7347614681926, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1702.3908507372046, + 983.1366852568392, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1703.8908507372046, + 980.5386090454858, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1705.3908507372046, + 977.9405328341325, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1706.8908507372046, + 975.3424566227791, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1708.3908507372046, + 972.7443804114257, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1709.8908507372046, + 970.1463042000723, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1711.3908507372046, + 967.548227988719, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1712.8908507372046, + 964.9501517773656, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1714.3908507372046, + 962.3520755660122, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1715.8908507372046, + 959.7539993546588, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1717.3908507372046, + 957.1559231433055, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1718.8908507372046, + 954.5578469319521, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1720.3908507372046, + 951.9597707205987, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1721.8908507372046, + 949.3616945092454, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1723.3908507372046, + 946.763618297892, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1724.8908507372046, + 944.1655420865386, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1726.3908507372046, + 941.5674658751852, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1727.8908507372046, + 938.9693896638319, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1729.3908507372046, + 936.3713134524785, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1730.8908507372046, + 933.7732372411251, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1732.3908507372046, + 931.1751610297717, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1733.8908507372046, + 928.5770848184184, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1735.3908507372046, + 925.979008607065, + 38.30878913579328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1736.8908507372046, + 923.3809323957116, + 38.30878913579328 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1736.8908507372046, + 923.3809323957116, + 35.30878913579328 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1736.8908507372046, + 923.3809323957116, + 32.30878913579328 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1736.8908507372046, + 923.3809323957116, + 29.308789135793283 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1736.8908507372046, + 923.3809323957116, + 26.308789135793283 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1738.3908507372046, + 920.7828561843583, + 26.308789135793283 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + 904.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-44-27_359323/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-44-27_359323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f42507e8670a89c8f1f8f506f81676c3363d74b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-44-27_359323/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1470.623435806886, + 80.30062070006366, + 22.860922478393057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1467.623435806886, + 80.30062070006366, + 22.860922478393057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 22.860922478393057 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 25.860922478393057 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 28.860922478393057 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 31.860922478393057 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 34.86092247839306 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 37.86092247839306 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1464.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1461.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1458.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1455.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1452.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1449.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1446.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1443.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1443.623435806886, + 80.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1441.0253595955326, + 78.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1438.4272833841792, + 77.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1435.8292071728258, + 75.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1433.2311309614724, + 74.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1430.633054750119, + 72.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1428.0349785387657, + 71.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1425.4369023274123, + 69.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1422.838826116059, + 68.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1420.2407499047056, + 66.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1417.6426736933522, + 65.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1415.0445974819988, + 63.80062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1412.4465212706455, + 62.30062070006366, + 40.86092247839306 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1412.4465212706455, + 62.30062070006366, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1410.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1410.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1410.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1407.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1404.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1401.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1398.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1395.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1392.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1389.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1386.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1383.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1380.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1377.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1374.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1371.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 40.86092247839306 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 37.86092247839306 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 34.86092247839306 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 31.860922478393057 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 28.860922478393057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1368.9465212706455, + 59.702544488710345, + 28.860922478393057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1366.348445059292, + 58.202544488710345, + 28.860922478393057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1363.7503688479387, + 56.702544488710345, + 28.860922478393057 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1363.7503688479387, + 56.702544488710345, + 25.860922478393057 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1363.7503688479387, + 56.702544488710345, + 22.860922478393057 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1361.1522926365853, + 55.202544488710345, + 22.860922478393057 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1328.0, + 48.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-19-01_189631/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-19-01_189631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4c592e40a397facbbffcb1c17518979b3f0b5af --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-19-01_189631/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1509.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1506.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1503.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1500.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1497.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1494.177836720406, + 837.0877320220408, + 32.3692566668242 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1494.177836720406, + 837.0877320220408, + 35.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1491.177836720406, + 837.0877320220408, + 35.3692566668242 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1491.177836720406, + 837.0877320220408, + 38.3692566668242 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1491.177836720406, + 837.0877320220408, + 38.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1488.5797605090527, + 835.5877320220408, + 38.3692566668242 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1488.5797605090527, + 835.5877320220408, + 41.3692566668242 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1488.5797605090527, + 835.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1485.9816842976993, + 834.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1483.383608086346, + 832.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1480.7855318749926, + 831.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1478.1874556636392, + 829.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1475.5893794522858, + 828.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1472.9913032409324, + 826.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1470.393227029579, + 825.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1467.7951508182257, + 823.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1465.1970746068723, + 822.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1462.598998395519, + 820.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1460.0009221841656, + 819.0877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1457.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1457.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1454.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1451.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1448.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1445.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1442.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1439.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1436.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1433.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1430.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1427.4028459728122, + 817.5877320220408, + 44.3692566668242 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1427.4028459728122, + 817.5877320220408, + 41.3692566668242 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1427.4028459728122, + 817.5877320220408, + 38.3692566668242 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1427.4028459728122, + 817.5877320220408, + 35.3692566668242 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1427.4028459728122, + 817.5877320220408, + 32.3692566668242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1424.4028459728122, + 817.5877320220408, + 32.3692566668242 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1400.0, + 812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-58-54_880443/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-58-54_880443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f80a17b1481037a5774f19f633123b3cca94551 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-58-54_880443/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -348.9743251851979, + 1681.6017453364875, + 37.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -351.57240139655124, + 1683.1017453364875, + 37.231024101178875 + ], + "type": "go up", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -351.57240139655124, + 1683.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -354.17047760790456, + 1684.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -356.7685538192579, + 1686.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -359.3666300306112, + 1687.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.9647062419645, + 1689.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -364.5627824533178, + 1690.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -367.16085866467114, + 1692.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -369.75893487602445, + 1693.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -372.35701108737777, + 1695.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -374.9550872987311, + 1696.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -377.5531635100844, + 1698.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -380.1512397214377, + 1699.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -382.74931593279103, + 1701.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -385.34739214414435, + 1702.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -387.94546835549767, + 1704.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -390.543544566851, + 1705.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -393.1416207782043, + 1707.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -395.7396969895576, + 1708.6017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -398.33777320091093, + 1710.1017453364875, + 40.231024101178875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -398.33777320091093, + 1710.1017453364875, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -399.83777320091093, + 1712.6998215478409, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -401.33777320091093, + 1715.2978977591943, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -402.83777320091093, + 1717.8959739705476, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -404.33777320091093, + 1720.494050181901, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -405.83777320091093, + 1723.0921263932544, + 40.231024101178875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -407.33777320091093, + 1725.6902026046077, + 40.231024101178875 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -407.33777320091093, + 1725.6902026046077, + 37.231024101178875 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -440.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-00-48_201928/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-00-48_201928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..380afb215b593e69e9f936cbb4adba68bf5e1833 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-00-48_201928/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1725.3110972752265, + 1274.1299204875684, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1723.8110972752265, + 1271.531844276215, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1722.3110972752265, + 1268.9337680648616, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1720.8110972752265, + 1266.3356918535083, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1719.3110972752265, + 1263.7376156421549, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1717.8110972752265, + 1261.1395394308015, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1716.3110972752265, + 1258.5414632194481, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1714.8110972752265, + 1255.9433870080948, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1713.3110972752265, + 1253.3453107967414, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1711.8110972752265, + 1250.747234585388, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1710.3110972752265, + 1248.1491583740346, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1708.8110972752265, + 1245.5510821626813, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1707.3110972752265, + 1242.953005951328, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1705.8110972752265, + 1240.3549297399745, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1704.3110972752265, + 1237.7568535286211, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1702.8110972752265, + 1235.1587773172678, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1701.3110972752265, + 1232.5607011059144, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1699.8110972752265, + 1229.962624894561, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1698.3110972752265, + 1227.3645486832077, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1696.8110972752265, + 1224.7664724718543, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1695.3110972752265, + 1222.168396260501, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1693.8110972752265, + 1219.5703200491475, + 23.01380700715275 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1693.8110972752265, + 1219.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1693.8110972752265, + 1216.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1693.8110972752265, + 1213.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1693.8110972752265, + 1210.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1693.8110972752265, + 1207.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1693.8110972752265, + 1204.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1693.8110972752265, + 1201.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1693.8110972752265, + 1198.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 23.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 26.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 29.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 32.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 35.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 38.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 41.01380700715275 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1693.8110972752265, + 1195.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1693.8110972752265, + 1192.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1693.8110972752265, + 1189.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1693.8110972752265, + 1186.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1693.8110972752265, + 1183.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1693.8110972752265, + 1180.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1693.8110972752265, + 1177.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1693.8110972752265, + 1174.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1693.8110972752265, + 1171.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1693.8110972752265, + 1168.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1693.8110972752265, + 1165.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1693.8110972752265, + 1162.5703200491475, + 44.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 44.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 41.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 38.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 35.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 32.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 29.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 26.01380700715275 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 23.01380700715275 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1693.8110972752265, + 1159.5703200491475, + 23.01380700715275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1692.3110972752265, + 1156.9722438377942, + 23.01380700715275 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-13-43_168728/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-13-43_168728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c63290c053f4fe2b9bb828fd837e14d86a78122 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-13-43_168728/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 20.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 23.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 26.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 29.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 32.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 35.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 38.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 41.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 44.52742584152235 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 47.52742584152235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 47.52742584152235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1463.4953985232523, + 10.150812400352947, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1461.9953985232523, + 12.748888611706263, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1460.4953985232523, + 15.34696482305958, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1458.9953985232523, + 17.945041034412895, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1457.4953985232523, + 20.54311724576621, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1455.9953985232523, + 23.141193457119527, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1454.4953985232523, + 25.739269668472843, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1452.9953985232523, + 28.33734587982616, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1451.4953985232523, + 30.935422091179476, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1449.9953985232523, + 33.53349830253279, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1448.4953985232523, + 36.13157451388611, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1446.9953985232523, + 38.72965072523942, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1445.4953985232523, + 41.32772693659274, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1443.9953985232523, + 43.925803147946056, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1442.4953985232523, + 46.52387935929937, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1440.9953985232523, + 49.12195557065269, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1439.4953985232523, + 51.720031782006004, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1437.9953985232523, + 54.31810799335932, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1436.4953985232523, + 56.916184204712636, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1434.9953985232523, + 59.51426041606595, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1433.4953985232523, + 62.11233662741927, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1431.9953985232523, + 64.71041283877258, + 47.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1430.4953985232523, + 67.3084890501259, + 47.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1430.4953985232523, + 67.3084890501259, + 44.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1430.4953985232523, + 67.3084890501259, + 41.52742584152235 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1430.4953985232523, + 67.3084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1427.897322311899, + 68.8084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1425.2992461005456, + 70.3084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1422.7011698891922, + 71.8084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1420.1030936778388, + 73.3084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1417.5050174664855, + 74.8084890501259, + 41.52742584152235 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1417.5050174664855, + 74.8084890501259, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1416.0050174664855, + 77.40656526147922, + 41.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 41.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 38.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 35.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 32.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 29.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 26.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 23.52742584152235 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1414.5050174664855, + 80.00464147283253, + 20.52742584152235 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1413.0050174664855, + 82.60271768418585, + 20.52742584152235 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1400.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-15-27_329157/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-15-27_329157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddfe2b72b59cbcf0baa756d1418006329aa980cd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-15-27_329157/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1178.8931235372813, + -399.843046621838, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1180.3931235372813, + -397.2449704104847, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1181.8931235372813, + -394.6468941991314, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1183.3931235372813, + -392.0488179877781, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1184.8931235372813, + -389.45074177642476, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1186.3931235372813, + -386.85266556507145, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1187.8931235372813, + -384.25458935371813, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1189.3931235372813, + -381.6565131423648, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1190.8931235372813, + -379.0584369310115, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1192.3931235372813, + -376.4603607196582, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1193.8931235372813, + -373.86228450830487, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1195.3931235372813, + -371.26420829695155, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1196.8931235372813, + -368.66613208559824, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1198.3931235372813, + -366.0680558742449, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1199.8931235372813, + -363.4699796628916, + 26.16646469746277 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1199.8931235372813, + -363.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1199.8931235372813, + -360.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1199.8931235372813, + -357.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1199.8931235372813, + -354.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1199.8931235372813, + -351.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1199.8931235372813, + -348.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1199.8931235372813, + -345.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1199.8931235372813, + -342.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1199.8931235372813, + -339.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1199.8931235372813, + -336.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1199.8931235372813, + -333.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1199.8931235372813, + -330.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1199.8931235372813, + -327.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1199.8931235372813, + -324.4699796628916, + 26.16646469746277 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1199.8931235372813, + -324.4699796628916, + 26.16646469746277 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1199.8931235372813, + -324.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1202.4911997486347, + -322.9699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1205.089275959988, + -321.4699796628916, + 26.16646469746277 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1205.089275959988, + -321.4699796628916, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1206.589275959988, + -318.8719034515383, + 26.16646469746277 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1206.589275959988, + -318.8719034515383, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1206.589275959988, + -315.8719034515383, + 26.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1206.589275959988, + -312.8719034515383, + 26.16646469746277 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1206.589275959988, + -312.8719034515383, + 29.16646469746277 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1206.589275959988, + -312.8719034515383, + 32.16646469746277 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1206.589275959988, + -312.8719034515383, + 35.16646469746277 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1206.589275959988, + -312.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1206.589275959988, + -309.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1206.589275959988, + -306.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1206.589275959988, + -303.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1206.589275959988, + -300.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1206.589275959988, + -297.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1206.589275959988, + -294.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1206.589275959988, + -291.8719034515383, + 38.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1206.589275959988, + -288.8719034515383, + 38.16646469746277 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1206.589275959988, + -288.8719034515383, + 35.16646469746277 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1206.589275959988, + -288.8719034515383, + 35.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1205.089275959988, + -286.27382724018497, + 35.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1203.589275959988, + -283.67575102883166, + 35.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1202.089275959988, + -281.07767481747834, + 35.16646469746277 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1200.589275959988, + -278.479598606125, + 35.16646469746277 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1200.589275959988, + -278.479598606125, + 32.16646469746277 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1200.589275959988, + -278.479598606125, + 29.16646469746277 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1200.589275959988, + -278.479598606125, + 26.16646469746277 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-17-27_549552/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-17-27_549552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b996e6198cb1b2cb7c3bde28e109cee554ed8988 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-17-27_549552/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 501.5970546717892, + -573.4353116918764, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 503.0970546717892, + -576.0333879032298, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 504.5970546717892, + -578.6314641145832, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 506.0970546717892, + -581.2295403259366, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 507.5970546717892, + -583.8276165372899, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 509.0970546717892, + -586.4256927486433, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 510.5970546717892, + -589.0237689599967, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 512.0970546717892, + -591.6218451713501, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965907 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 513.5970546717892, + -594.2199213827034, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 515.0970546717892, + -596.8179975940568, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 516.5970546717892, + -599.4160738054102, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 518.0970546717892, + -602.0141500167636, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 519.5970546717892, + -604.6122262281169, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 521.0970546717892, + -607.2103024394703, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 522.5970546717892, + -609.8083786508237, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 524.0970546717892, + -612.406454862177, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 525.5970546717892, + -615.0045310735304, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 527.0970546717892, + -617.6026072848838, + 30.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 30.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 33.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 36.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 39.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 42.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 45.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 48.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 51.37580861504841 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 528.5970546717892, + -620.2006834962372, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 530.0970546717892, + -622.7987597075905, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 531.5970546717892, + -625.3968359189439, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 533.0970546717892, + -627.9949121302973, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 534.5970546717892, + -630.5929883416507, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 536.0970546717892, + -633.191064553004, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 537.5970546717892, + -635.7891407643574, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 539.0970546717892, + -638.3872169757108, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 540.5970546717892, + -640.9852931870641, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 542.0970546717892, + -643.5833693984175, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 543.5970546717892, + -646.1814456097709, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 545.0970546717892, + -648.7795218211243, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 546.5970546717892, + -651.3775980324776, + 54.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 548.0970546717892, + -653.975674243831, + 54.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 548.0970546717892, + -653.975674243831, + 51.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 548.0970546717892, + -653.975674243831, + 48.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 548.0970546717892, + -653.975674243831, + 45.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 548.0970546717892, + -653.975674243831, + 42.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 548.0970546717892, + -653.975674243831, + 39.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 548.0970546717892, + -653.975674243831, + 36.37580861504841 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 548.0970546717892, + -653.975674243831, + 36.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 550.6951308831426, + -655.475674243831, + 36.37580861504841 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 553.293207094496, + -656.975674243831, + 36.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 553.293207094496, + -656.975674243831, + 33.37580861504841 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 553.293207094496, + -656.975674243831, + 30.375808615048413 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 555.8912833058494, + -658.475674243831, + 30.375808615048413 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + -676.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-20-00_333658/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-20-00_333658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b40caf53640280c4ffa6055dbb7e7d191194982b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-20-00_333658/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 28.085470967610558 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 31.085470967610558 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1745.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1748.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1751.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1754.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1757.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1757.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1757.6829416628125, + 676.3901438313379, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1759.1829416628125, + 673.7920676199847, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1760.6829416628125, + 671.1939914086313, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1762.1829416628125, + 668.5959151972779, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1763.6829416628125, + 665.9978389859245, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 34.08547096761056 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 37.08547096761056 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 40.08547096761056 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1765.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1768.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1771.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1774.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1777.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1780.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1783.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1786.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1789.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1792.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1795.1829416628125, + 663.3997627745712, + 43.08547096761056 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1795.1829416628125, + 663.3997627745712, + 40.08547096761056 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1795.1829416628125, + 663.3997627745712, + 37.08547096761056 + ], + "type": "go down", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1795.1829416628125, + 663.3997627745712, + 34.08547096761056 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1795.1829416628125, + 663.3997627745712, + 34.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1797.7810178741659, + 661.8997627745712, + 34.08547096761056 + ], + "type": "go down", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1797.7810178741659, + 661.8997627745712, + 31.08547096761056 + ], + "type": "go down", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1797.7810178741659, + 661.8997627745712, + 28.08547096761056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1800.3790940855192, + 660.3997627745712, + 28.08547096761056 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1860.0, + 644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-46-50_68110/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-46-50_68110/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88f290262ca42c6697acca435149e7b3279ac46e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-46-50_68110/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1775.5897048745267, + -1625.0147663372638, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1777.0897048745267, + -1622.4166901259105, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1778.5897048745267, + -1619.818613914557, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1780.0897048745267, + -1617.2205377032037, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1781.5897048745267, + -1614.6224614918503, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1783.0897048745267, + -1612.024385280497, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1784.5897048745267, + -1609.4263090691436, + 34.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1786.0897048745267, + -1606.8282328577902, + 34.04919808884948 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1786.0897048745267, + -1606.8282328577902, + 37.04919808884948 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1786.0897048745267, + -1606.8282328577902, + 40.04919808884948 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1786.0897048745267, + -1606.8282328577902, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1787.5897048745267, + -1604.2301566464369, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1789.0897048745267, + -1601.6320804350835, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1790.5897048745267, + -1599.03400422373, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1792.0897048745267, + -1596.4359280123767, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1793.5897048745267, + -1593.8378518010234, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1795.0897048745267, + -1591.23977558967, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1796.5897048745267, + -1588.6416993783166, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1798.0897048745267, + -1586.0436231669632, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1799.5897048745267, + -1583.4455469556099, + 43.04919808884948 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1799.5897048745267, + -1583.4455469556099, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1799.5897048745267, + -1580.4455469556099, + 43.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1799.5897048745267, + -1577.4455469556099, + 43.04919808884948 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1799.5897048745267, + -1577.4455469556099, + 40.04919808884948 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1799.5897048745267, + -1577.4455469556099, + 37.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1799.5897048745267, + -1574.4455469556099, + 37.04919808884948 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1799.5897048745267, + -1571.4455469556099, + 37.04919808884948 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + -1516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-48-04_646040/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-48-04_646040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..092592a9cb798f28d2a3e7c89a811fce2bbbcdd2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-48-04_646040/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1664.3146255672573, + 914.187873485302, + 30.101162976385464 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1662.8146255672573, + 911.5897972739488, + 30.101162976385464 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 30.101162976385464 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 33.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 36.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 39.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 42.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 45.10116297638547 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1661.3146255672573, + 908.9917210625954, + 45.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1661.3146255672573, + 905.9917210625954, + 45.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1661.3146255672573, + 905.9917210625954, + 48.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1661.3146255672573, + 905.9917210625954, + 51.10116297638547 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1661.3146255672573, + 905.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1661.3146255672573, + 902.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1661.3146255672573, + 899.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1661.3146255672573, + 896.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1661.3146255672573, + 893.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1661.3146255672573, + 890.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1661.3146255672573, + 887.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1661.3146255672573, + 884.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1661.3146255672573, + 881.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1661.3146255672573, + 878.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1661.3146255672573, + 875.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1661.3146255672573, + 872.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1661.3146255672573, + 869.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1661.3146255672573, + 866.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1661.3146255672573, + 863.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1661.3146255672573, + 860.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1661.3146255672573, + 857.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1661.3146255672573, + 854.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1661.3146255672573, + 851.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1661.3146255672573, + 848.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1661.3146255672573, + 845.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1661.3146255672573, + 842.9917210625954, + 54.10116297638547 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1661.3146255672573, + 842.9917210625954, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1662.8146255672573, + 840.393644851242, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1664.3146255672573, + 837.7955686398886, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1665.8146255672573, + 835.1974924285353, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1667.3146255672573, + 832.5994162171819, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1668.8146255672573, + 830.0013400058285, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1670.3146255672573, + 827.4032637944752, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1671.8146255672573, + 824.8051875831218, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1673.3146255672573, + 822.2071113717684, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1674.8146255672573, + 819.609035160415, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1676.3146255672573, + 817.0109589490617, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1677.8146255672573, + 814.4128827377083, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1679.3146255672573, + 811.8148065263549, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1680.8146255672573, + 809.2167303150015, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1682.3146255672573, + 806.6186541036482, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1683.8146255672573, + 804.0205778922948, + 54.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1685.3146255672573, + 801.4225016809414, + 54.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1685.3146255672573, + 801.4225016809414, + 51.10116297638547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1685.3146255672573, + 801.4225016809414, + 51.10116297638547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 51.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 48.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 45.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 42.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 39.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 36.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 33.10116297638547 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1685.3146255672573, + 798.4225016809414, + 30.101162976385467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1685.3146255672573, + 795.4225016809414, + 30.101162976385467 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-53-13_466017/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-53-13_466017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..655e3eb8981ca4ee0897451211ce1ba4b2adb63f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-53-13_466017/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1535.5717155824805, + 191.05903473659802, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1534.0717155824805, + 193.65711094795134, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1532.5717155824805, + 196.25518715930465, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1531.0717155824805, + 198.85326337065797, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1529.5717155824805, + 201.4513395820113, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1528.0717155824805, + 204.0494157933646, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1526.5717155824805, + 206.64749200471792, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1525.0717155824805, + 209.24556821607123, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1523.5717155824805, + 211.84364442742455, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1522.0717155824805, + 214.44172063877787, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1520.5717155824805, + 217.03979685013118, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1519.0717155824805, + 219.6378730614845, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1517.5717155824805, + 222.23594927283781, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1516.0717155824805, + 224.83402548419113, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1514.5717155824805, + 227.43210169554445, + 19.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 19.354325229538482 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 22.354325229538482 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 25.354325229538482 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 28.354325229538482 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 31.354325229538482 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 34.35432522953848 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 37.35432522953848 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 40.35432522953848 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1513.0717155824805, + 230.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1510.473639371127, + 231.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1507.8755631597737, + 233.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1505.2774869484203, + 234.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1502.679410737067, + 236.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1500.0813345257136, + 237.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1497.4832583143602, + 239.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1494.8851821030069, + 240.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1492.2871058916535, + 242.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1489.6890296803, + 243.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1487.0909534689467, + 245.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1484.4928772575934, + 246.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1481.89480104624, + 248.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1479.2967248348866, + 249.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1476.6986486235332, + 251.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1474.1005724121799, + 252.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1471.5024962008265, + 254.03017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1468.9044199894731, + 255.53017790689776, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1466.3063437781198, + 257.03017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982812 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1463.7082675667664, + 258.53017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1461.110191355413, + 260.03017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1458.5121151440596, + 261.53017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1455.9140389327063, + 263.03017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1453.315962721353, + 264.53017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1450.7178865099995, + 266.03017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1448.1198102986461, + 267.53017790689773, + 40.35432522953848 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 40.35432522953848 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 37.35432522953848 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 34.35432522953848 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 31.354325229538482 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 28.354325229538482 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 25.354325229538482 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 22.354325229538482 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1445.5217340872928, + 269.03017790689773, + 22.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1442.5217340872928, + 269.03017790689773, + 22.354325229538482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1439.5217340872928, + 269.03017790689773, + 22.354325229538482 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1439.5217340872928, + 269.03017790689773, + 19.354325229538482 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1424.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-06-12_20420/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-06-12_20420/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c324a3aca589329b5ebeacea565b94c45f175a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-06-12_20420/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 33.03038720189152 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 36.03038720189152 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 39.03038720189152 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 42.03038720189152 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 45.03038720189152 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 48.03038720189152 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 48.03038720189152 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 48.03038720189152 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 48.03038720189152 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1743.3742462161706, + 921.816093140585, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1744.8742462161706, + 924.4141693519384, + 48.03038720189152 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1744.8742462161706, + 924.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1744.8742462161706, + 927.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1744.8742462161706, + 930.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1744.8742462161706, + 933.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1744.8742462161706, + 936.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1744.8742462161706, + 939.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1744.8742462161706, + 942.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1744.8742462161706, + 945.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1744.8742462161706, + 948.4141693519384, + 48.03038720189152 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1744.8742462161706, + 948.4141693519384, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1746.3742462161706, + 951.0122455632918, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1747.8742462161706, + 953.6103217746452, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1749.3742462161706, + 956.2083979859985, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1750.8742462161706, + 958.8064741973519, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1752.3742462161706, + 961.4045504087053, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1753.8742462161706, + 964.0026266200587, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1755.3742462161706, + 966.600702831412, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1756.8742462161706, + 969.1987790427654, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1758.3742462161706, + 971.7968552541188, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1759.8742462161706, + 974.3949314654722, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1761.3742462161706, + 976.9930076768255, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1762.8742462161706, + 979.5910838881789, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1764.3742462161706, + 982.1891600995323, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1765.8742462161706, + 984.7872363108856, + 48.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 48.03038720189152 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 45.03038720189152 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 42.03038720189152 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 39.03038720189152 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 36.03038720189152 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1767.3742462161706, + 987.385312522239, + 36.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1767.3742462161706, + 990.385312522239, + 36.03038720189152 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1767.3742462161706, + 993.385312522239, + 36.03038720189152 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1767.3742462161706, + 993.385312522239, + 33.03038720189152 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1788.0, + 1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-08-43_801913/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-08-43_801913/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab8a01fc903eb56bdcbbdd81e1ed2dee9dccfe7f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-08-43_801913/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1053.2283594270334, + -447.1498228933602, + 23.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1055.8264356383868, + -448.6498228933602, + 23.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1058.4245118497402, + -450.1498228933602, + 23.030288656334946 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1058.4245118497402, + -450.1498228933602, + 26.030288656334946 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1058.4245118497402, + -450.1498228933602, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1059.9245118497402, + -452.7478991047135, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1061.4245118497402, + -455.3459753160668, + 26.030288656334946 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1061.4245118497402, + -455.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1061.4245118497402, + -458.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1061.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1061.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1061.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1061.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1064.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1067.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1070.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1073.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1076.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1079.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1082.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1085.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1088.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1091.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1094.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1097.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1100.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1103.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1106.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1109.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1112.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1115.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1118.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1121.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1121.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1121.4245118497402, + -461.3459753160668, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1122.9245118497402, + -458.7478991047135, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1124.4245118497402, + -456.1498228933602, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1125.9245118497402, + -453.55174668200686, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1127.4245118497402, + -450.95367047065355, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1128.9245118497402, + -448.35559425930023, + 26.030288656334946 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1128.9245118497402, + -448.35559425930023, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1131.5225880610935, + -446.85559425930023, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1134.120664272447, + -445.35559425930023, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1136.7187404838003, + -443.85559425930023, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1139.3168166951536, + -442.35559425930023, + 26.030288656334946 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1139.3168166951536, + -442.35559425930023, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1140.8168166951536, + -439.7575180479469, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1142.3168166951536, + -437.1594418365936, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1143.8168166951536, + -434.5613656252403, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1145.3168166951536, + -431.96328941388697, + 26.030288656334946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1146.8168166951536, + -429.36521320253365, + 26.030288656334946 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1146.8168166951536, + -429.36521320253365, + 23.030288656334946 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-10-17_689726/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-10-17_689726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f605fee0f3ab3215e438a631fc52cd85b007747 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-10-17_689726/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1728.0156997633947, + 679.0890287543002, + 30.845742205433183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1726.5156997633947, + 676.4909525429468, + 30.845742205433183 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1725.0156997633947, + 673.8928763315935, + 30.845742205433183 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1725.0156997633947, + 673.8928763315935, + 33.84574220543318 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1725.0156997633947, + 673.8928763315935, + 36.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1723.5156997633947, + 671.2948001202401, + 36.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1722.0156997633947, + 668.6967239088867, + 36.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1720.5156997633947, + 666.0986476975334, + 36.84574220543318 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1720.5156997633947, + 666.0986476975334, + 39.84574220543318 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1720.5156997633947, + 666.0986476975334, + 42.84574220543318 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1720.5156997633947, + 666.0986476975334, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1719.0156997633947, + 663.50057148618, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1717.5156997633947, + 660.9024952748266, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1716.0156997633947, + 658.3044190634732, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1714.5156997633947, + 655.7063428521199, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1713.0156997633947, + 653.1082666407665, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1711.5156997633947, + 650.5101904294131, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1710.0156997633947, + 647.9121142180597, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1708.5156997633947, + 645.3140380067064, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1707.0156997633947, + 642.715961795353, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1705.5156997633947, + 640.1178855839996, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1704.0156997633947, + 637.5198093726463, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1702.5156997633947, + 634.9217331612929, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1701.0156997633947, + 632.3236569499395, + 45.84574220543318 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1701.0156997633947, + 632.3236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1698.4176235520413, + 630.8236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1695.819547340688, + 629.3236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1693.2214711293345, + 627.8236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1690.6233949179812, + 626.3236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1688.0253187066278, + 624.8236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1685.4272424952744, + 623.3236569499395, + 45.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1682.829166283921, + 621.8236569499395, + 45.84574220543318 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1682.829166283921, + 621.8236569499395, + 42.84574220543318 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1682.829166283921, + 621.8236569499395, + 39.84574220543318 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1682.829166283921, + 621.8236569499395, + 36.84574220543318 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1682.829166283921, + 621.8236569499395, + 33.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1680.2310900725677, + 620.3236569499395, + 33.84574220543318 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1677.6330138612143, + 618.8236569499395, + 33.84574220543318 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1677.6330138612143, + 618.8236569499395, + 30.845742205433183 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1664.0, + 600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-58-48_511702305/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-58-48_511702305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7eaf8c616cd34642dd0e64eb8678974e78620b4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-58-48_511702305/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1299.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1302.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1305.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1308.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1311.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1314.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1317.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1320.052414100114, + 650.1814864933908, + 35.62230646923316 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + 640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-25-21_889023311/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-25-21_889023311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..741ccb72a31846f5011dfdf01f65fae4b1ada18f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-25-21_889023311/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1163.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1160.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1157.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1154.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1151.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1148.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1145.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1142.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1139.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1136.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1133.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1130.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1127.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1127.7024849872953, + -1093.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1125.104408775942, + -1091.6145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1122.5063325645885, + -1090.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1119.9082563532352, + -1088.6145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1117.3101801418818, + -1087.1145763803065, + 31.69290924412652 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1114.7121039305284, + -1085.6145763803065, + 31.69290924412652 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-39-40_711845894/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-39-40_711845894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f176e4a3a688124dbacf3edf3e469bc966e5b9a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-39-40_711845894/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1486.0227488367996, + 77.80927802643589, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1488.620825048153, + 79.30927802643589, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1491.2189012595063, + 80.80927802643589, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1493.8169774708597, + 82.30927802643589, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1496.415053682213, + 83.80927802643589, + 39.73506807386797 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1496.415053682213, + 83.80927802643589, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1497.915053682213, + 86.4073542377892, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1499.415053682213, + 89.00543044914252, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1500.915053682213, + 91.60350666049584, + 39.73506807386797 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1500.915053682213, + 91.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1500.915053682213, + 94.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1500.915053682213, + 97.60350666049584, + 39.73506807386797 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1500.915053682213, + 97.60350666049584, + 39.73506807386797 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1500.915053682213, + 97.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1503.5131298935664, + 99.10350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1506.1112061049198, + 100.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1508.7092823162732, + 102.10350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1511.3073585276265, + 103.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1513.90543473898, + 105.10350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1516.5035109503333, + 106.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1519.1015871616867, + 108.10350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1521.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1521.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1524.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1527.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1530.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1533.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1536.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1539.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1542.69966337304, + 109.60350666049584, + 39.73506807386797 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1584.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-47-38_1943327684/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-47-38_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c9829dfc7d97283ef788f672bac7ecc6d9fdecf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-47-38_1943327684/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 802.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 799.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 796.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 793.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 787.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 784.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 781.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 778.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 775.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 772.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 769.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 766.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 763.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 760.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 757.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 754.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 751.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 748.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 745.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 742.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 739.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 736.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 733.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 730.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 727.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 724.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 721.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 718.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 715.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 712.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 709.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 706.2506899794166, + -1088.3795454745527, + 33.19615126897064 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-54-21_1469262009/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-54-21_1469262009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d414bf1a2aad33dc2f907b1021b99d8810dbdd4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-54-21_1469262009/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1739.6804875112489, + -1146.8052361435089, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1741.1804875112489, + -1144.2071599321555, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1742.6804875112489, + -1141.6090837208021, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1744.1804875112489, + -1139.0110075094487, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1745.6804875112489, + -1136.4129312980954, + 31.324204038913244 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1745.6804875112489, + -1136.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1745.6804875112489, + -1133.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1745.6804875112489, + -1130.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1745.6804875112489, + -1127.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1745.6804875112489, + -1124.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1745.6804875112489, + -1121.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1745.6804875112489, + -1118.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1745.6804875112489, + -1115.4129312980954, + 31.324204038913244 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1745.6804875112489, + -1115.4129312980954, + 31.324204038913244 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1745.6804875112489, + -1115.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1748.2785637226023, + -1113.9129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1750.8766399339556, + -1112.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1753.474716145309, + -1110.9129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1756.0727923566624, + -1109.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1758.6708685680157, + -1107.9129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1761.2689447793691, + -1106.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1763.8670209907225, + -1104.9129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1766.4650972020759, + -1103.4129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1769.0631734134292, + -1101.9129312980954, + 31.324204038913244 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1769.0631734134292, + -1101.9129312980954, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1770.5631734134292, + -1099.314855086742, + 31.324204038913244 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1772.0631734134292, + -1096.7167788753886, + 31.324204038913244 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1800.0, + -1052.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-19-16_11614769/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-19-16_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06ef5553d43bac963e303de18ca30459d5d04830 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-19-16_11614769/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 621.213341083433, + 1713.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 621.213341083433, + 1716.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 621.213341083433, + 1719.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 621.213341083433, + 1722.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 621.213341083433, + 1725.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 621.213341083433, + 1728.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 621.213341083433, + 1731.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 621.213341083433, + 1734.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 621.213341083433, + 1737.039924858885, + 39.52885381560866 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 621.213341083433, + 1737.039924858885, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 619.713341083433, + 1739.6380010702383, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 618.213341083433, + 1742.2360772815916, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 616.713341083433, + 1744.834153492945, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 615.213341083433, + 1747.4322297042984, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 613.713341083433, + 1750.0303059156518, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 612.213341083433, + 1752.6283821270051, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 610.713341083433, + 1755.2264583383585, + 39.52885381560866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 609.213341083433, + 1757.8245345497119, + 39.52885381560866 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 588.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-32-59_1277849958/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-32-59_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b6509c59ae61fa14b340bd3904ca1d8fed61fbe --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-32-59_1277849958/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -814.5263906301507, + -515.2724630962457, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -813.0263906301507, + -517.8705393075991, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -811.5263906301507, + -520.4686155189524, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -810.0263906301507, + -523.0666917303058, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.5263906301507, + -525.6647679416592, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -807.0263906301507, + -528.2628441530126, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.5263906301507, + -530.8609203643659, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.0263906301507, + -533.4589965757193, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.5263906301507, + -536.0570727870727, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -801.0263906301507, + -538.6551489984261, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -799.5263906301507, + -541.2532252097794, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -798.0263906301507, + -543.8513014211328, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -796.5263906301507, + -546.4493776324862, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -795.0263906301507, + -549.0474538438395, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -793.5263906301507, + -551.6455300551929, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -792.0263906301507, + -554.2436062665463, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -790.5263906301507, + -556.8416824778997, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -789.0263906301507, + -559.439758689253, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -787.5263906301507, + -562.0378349006064, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -786.0263906301507, + -564.6359111119598, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -784.5263906301507, + -567.2339873233132, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -783.0263906301507, + -569.8320635346665, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -781.5263906301507, + -572.4301397460199, + 39.273204500424136 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.5263906301507, + -572.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.9283144187973, + -573.9301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -776.3302382074439, + -575.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -773.7321619960906, + -576.9301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -771.1340857847372, + -578.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -768.5360095733838, + -579.9301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.9379333620304, + -581.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -763.3398571506771, + -582.9301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -760.7417809393237, + -584.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -758.1437047279703, + -585.9301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -755.545628516617, + -587.4301397460199, + 39.273204500424136 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -755.545628516617, + -587.4301397460199, + 39.273204500424136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -754.045628516617, + -590.0282159573733, + 39.273204500424136 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0, + -608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-55-17_655858699/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-55-17_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edb698c93b15535f94292973a1574cfa7fc108bc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-55-17_655858699/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1320.492380494825, + 1236.4225433025856, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1318.992380494825, + 1233.8244670912322, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1317.492380494825, + 1231.2263908798789, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1315.992380494825, + 1228.6283146685255, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1314.492380494825, + 1226.0302384571721, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1312.992380494825, + 1223.4321622458187, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1311.492380494825, + 1220.8340860344654, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1309.992380494825, + 1218.236009823112, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1308.492380494825, + 1215.6379336117586, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1306.992380494825, + 1213.0398574004053, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1305.492380494825, + 1210.4417811890519, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1303.992380494825, + 1207.8437049776985, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1302.492380494825, + 1205.2456287663451, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1300.992380494825, + 1202.6475525549918, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1299.492380494825, + 1200.0494763436384, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1297.992380494825, + 1197.451400132285, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1296.492380494825, + 1194.8533239209316, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1294.992380494825, + 1192.2552477095783, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1293.492380494825, + 1189.657171498225, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1291.992380494825, + 1187.0590952868715, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1290.492380494825, + 1184.4610190755182, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1288.992380494825, + 1181.8629428641648, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1287.492380494825, + 1179.2648666528114, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1285.992380494825, + 1176.666790441458, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1284.492380494825, + 1174.0687142301047, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1282.992380494825, + 1171.4706380187513, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1281.492380494825, + 1168.872561807398, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1279.992380494825, + 1166.2744855960445, + 38.5647042837305 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1279.992380494825, + 1166.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1279.992380494825, + 1163.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1279.992380494825, + 1160.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1279.992380494825, + 1157.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1279.992380494825, + 1154.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1279.992380494825, + 1151.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1279.992380494825, + 1148.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1279.992380494825, + 1145.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1279.992380494825, + 1142.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1279.992380494825, + 1139.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1279.992380494825, + 1136.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1279.992380494825, + 1133.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1279.992380494825, + 1130.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1279.992380494825, + 1127.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1279.992380494825, + 1124.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1279.992380494825, + 1121.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1279.992380494825, + 1118.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1279.992380494825, + 1115.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1279.992380494825, + 1112.2744855960445, + 38.5647042837305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1279.992380494825, + 1109.2744855960445, + 38.5647042837305 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1276.0, + 1096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-1_23-50-25_1025125849/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_23-50-25_1025125849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21b0326f8c62c351e265dc40762ab57136e4e94f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-1_23-50-25_1025125849/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 809.2452318637285, + -66.63458837571086, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 807.7452318637285, + -69.23266458706418, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 806.2452318637285, + -71.8307407984175, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 804.7452318637285, + -74.42881700977081, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.2452318637285, + -77.02689322112413, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.7452318637285, + -79.62496943247744, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 800.2452318637285, + -82.22304564383076, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 798.7452318637285, + -84.82112185518407, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 797.2452318637285, + -87.41919806653739, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 795.7452318637285, + -90.0172742778907, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 794.2452318637285, + -92.61535048924402, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 792.7452318637285, + -95.21342670059734, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 791.2452318637285, + -97.81150291195065, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 789.7452318637285, + -100.40957912330397, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 788.2452318637285, + -103.00765533465729, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 786.7452318637285, + -105.6057315460106, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 785.2452318637285, + -108.20380775736392, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 783.7452318637285, + -110.80188396871723, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 782.2452318637285, + -113.39996018007055, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 780.7452318637285, + -115.99803639142387, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 779.2452318637285, + -118.59611260277718, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 777.7452318637285, + -121.1941888141305, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 776.2452318637285, + -123.79226502548381, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 774.7452318637285, + -126.39034123683713, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 773.2452318637285, + -128.98841744819043, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 771.7452318637285, + -131.58649365954375, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 770.2452318637285, + -134.18456987089706, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 768.7452318637285, + -136.78264608225038, + 39.29409661193545 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 768.7452318637285, + -136.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 768.7452318637285, + -139.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 768.7452318637285, + -142.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 768.7452318637285, + -145.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 768.7452318637285, + -148.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 768.7452318637285, + -151.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 768.7452318637285, + -154.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 768.7452318637285, + -157.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 768.7452318637285, + -160.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 768.7452318637285, + -163.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 768.7452318637285, + -166.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 768.7452318637285, + -169.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 768.7452318637285, + -172.78264608225038, + 39.29409661193545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 768.7452318637285, + -175.78264608225038, + 39.29409661193545 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 764.0, + -192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-18-22_19485054/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-18-22_19485054/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91b0178a32b64833746addbe591f100e755547f7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-18-22_19485054/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1524.4208454889456, + 648.4326737234056, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1522.9208454889456, + 645.8345975120524, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1521.4208454889456, + 643.236521300699, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1519.9208454889456, + 640.6384450893456, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1518.4208454889456, + 638.0403688779923, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1516.9208454889456, + 635.4422926666389, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1515.4208454889456, + 632.8442164552855, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1513.9208454889456, + 630.2461402439321, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1512.4208454889456, + 627.6480640325788, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1510.9208454889456, + 625.0499878212254, + 36.59604346909296 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1510.9208454889456, + 625.0499878212254, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1510.9208454889456, + 622.0499878212254, + 36.59604346909296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1510.9208454889456, + 619.0499878212254, + 36.59604346909296 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 528.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-25-4_786039021/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-25-4_786039021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cef366abf30d4d1c7f14db0b11f7cf7024cb769e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-25-4_786039021/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1288.5300936201672, + -318.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1288.5300936201672, + -321.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1288.5300936201672, + -324.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1288.5300936201672, + -327.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1288.5300936201672, + -330.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1288.5300936201672, + -333.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1288.5300936201672, + -336.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1288.5300936201672, + -339.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1288.5300936201672, + -342.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1288.5300936201672, + -345.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1288.5300936201672, + -348.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1288.5300936201672, + -351.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1288.5300936201672, + -354.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1288.5300936201672, + -357.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1288.5300936201672, + -360.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1288.5300936201672, + -363.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1288.5300936201672, + -366.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1288.5300936201672, + -369.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1288.5300936201672, + -372.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1288.5300936201672, + -375.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1288.5300936201672, + -378.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1288.5300936201672, + -381.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1288.5300936201672, + -384.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1288.5300936201672, + -387.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1288.5300936201672, + -390.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1288.5300936201672, + -393.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1288.5300936201672, + -396.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1288.5300936201672, + -399.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1288.5300936201672, + -402.6440714518399, + 32.97783462775104 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1288.5300936201672, + -402.6440714518399, + 32.97783462775104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1290.0300936201672, + -405.24214766319324, + 32.97783462775104 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1292.0, + -428.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-44-40_431530126/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-44-40_431530126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6daa33523072b6c2369efff40439eb71696fa24 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-44-40_431530126/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1648.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1651.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1654.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1657.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1660.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1663.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1663.1946852503804, + 1633.4959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1665.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1665.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1668.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1671.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1674.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1677.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1680.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1683.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1686.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1686.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1686.7927614617338, + 1631.9959340322562, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1688.2927614617338, + 1634.5940102436095, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1689.7927614617338, + 1637.192086454963, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1691.2927614617338, + 1639.7901626663163, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1692.7927614617338, + 1642.3882388776697, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1694.2927614617338, + 1644.986315089023, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1695.7927614617338, + 1647.5843913003764, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1697.2927614617338, + 1650.1824675117298, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1698.7927614617338, + 1652.7805437230832, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1700.2927614617338, + 1655.3786199344365, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1701.7927614617338, + 1657.97669614579, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1703.2927614617338, + 1660.5747723571433, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1704.7927614617338, + 1663.1728485684966, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1706.2927614617338, + 1665.77092477985, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1707.7927614617338, + 1668.3690009912034, + 32.97688916745188 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1709.2927614617338, + 1670.9670772025568, + 32.97688916745188 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1744.0, + 1692.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-51-40_639806732/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-51-40_639806732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5ed18cbe3677c609029b50a362a1f8e65845649 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-51-40_639806732/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1616.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1613.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1610.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1607.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1604.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1601.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1598.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1595.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1595.2982190654352, + 757.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1592.7001428540818, + 759.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1590.1020666427285, + 760.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1587.503990431375, + 762.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1584.9059142200217, + 763.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1582.3078380086683, + 765.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1579.709761797315, + 766.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1577.1116855859616, + 768.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1574.5136093746082, + 769.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1571.9155331632548, + 771.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1569.3174569519015, + 772.8527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1566.719380740548, + 774.3527602686866, + 31.198314685929468 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1566.719380740548, + 774.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1563.719380740548, + 774.3527602686866, + 31.198314685929468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1560.719380740548, + 774.3527602686866, + 31.198314685929468 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1516.0, + 788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-54-12_524305153/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-54-12_524305153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c81f043e850afa4afe1f83924a1e790d9ae9ca18 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_0-54-12_524305153/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1016.5854137061481, + 704.932884728826, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1018.0854137061481, + 707.5309609401793, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1019.5854137061481, + 710.1290371515327, + 30.924315140561724 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1019.5854137061481, + 710.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1022.1834899175014, + 711.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1024.7815661288548, + 713.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1027.3796423402082, + 714.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1029.9777185515616, + 716.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1032.575794762915, + 717.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1035.1738709742683, + 719.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1037.7719471856217, + 720.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1040.370023396975, + 722.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1042.9680996083284, + 723.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1045.5661758196818, + 725.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1048.1642520310352, + 726.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.7623282423885, + 728.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1053.360404453742, + 729.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1055.9584806650953, + 731.1290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1058.5565568764487, + 732.6290371515327, + 30.924315140561724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1061.154633087802, + 734.1290371515327, + 30.924315140561724 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1108.0, + 764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-11-45_1467963981/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-11-45_1467963981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d290766dd4a2cbd6b92b58545fcf73797d8e298b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-11-45_1467963981/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1738.8979267188352, + -1311.2023465577106, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1741.4960029301885, + -1309.7023465577106, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1744.094079141542, + -1308.2023465577106, + 36.42045035343665 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1744.094079141542, + -1308.2023465577106, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1745.594079141542, + -1305.6042703463572, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1747.094079141542, + -1303.0061941350039, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1748.594079141542, + -1300.4081179236505, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1750.094079141542, + -1297.810041712297, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1751.594079141542, + -1295.2119655009437, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1753.094079141542, + -1292.6138892895904, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1754.594079141542, + -1290.015813078237, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1756.094079141542, + -1287.4177368668836, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1757.594079141542, + -1284.8196606555302, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1759.094079141542, + -1282.2215844441769, + 36.42045035343665 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1759.094079141542, + -1282.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1759.094079141542, + -1279.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1759.094079141542, + -1276.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1759.094079141542, + -1273.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1759.094079141542, + -1270.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1759.094079141542, + -1267.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1759.094079141542, + -1264.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1759.094079141542, + -1261.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1759.094079141542, + -1258.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1759.094079141542, + -1255.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1759.094079141542, + -1252.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1759.094079141542, + -1249.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1759.094079141542, + -1246.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1759.094079141542, + -1243.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1759.094079141542, + -1240.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1759.094079141542, + -1237.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1759.094079141542, + -1234.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1759.094079141542, + -1231.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1759.094079141542, + -1228.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1759.094079141542, + -1225.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1759.094079141542, + -1222.2215844441769, + 36.42045035343665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1759.094079141542, + -1219.2215844441769, + 36.42045035343665 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1768.0, + -1192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-43-30_1289547084/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-43-30_1289547084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb8cb0f33a41cdfe4f6d115c49142b6b091b5a78 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-43-30_1289547084/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 506.78103388426905, + -825.5156806677173, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 509.37911009562237, + -827.0156806677173, + 32.26151933152417 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 509.37911009562237, + -827.0156806677173, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 510.87911009562237, + -829.6137568790707, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 512.3791100956224, + -832.2118330904241, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965907 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 513.8791100956224, + -834.8099093017775, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 515.3791100956224, + -837.4079855131308, + 32.26151933152417 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 515.3791100956224, + -837.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 517.9771863069757, + -838.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 520.575262518329, + -840.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 523.1733387296824, + -841.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 525.7714149410358, + -843.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 528.3694911523892, + -844.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 530.9675673637425, + -846.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 533.5656435750959, + -847.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 536.1637197864493, + -849.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 538.7617959978027, + -850.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 541.359872209156, + -852.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 543.9579484205094, + -853.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 546.5560246318628, + -855.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 549.1541008432162, + -856.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 551.7521770545695, + -858.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 554.3502532659229, + -859.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 556.9483294772763, + -861.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 559.5464056886296, + -862.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 562.144481899983, + -864.4079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 564.7425581113364, + -865.9079855131308, + 32.26151933152417 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 567.3406343226898, + -867.4079855131308, + 32.26151933152417 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 592.0, + -880.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-51-35_82173109/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-51-35_82173109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0301d51c6e2e131bb345316852e92b878d1c3b2a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-51-35_82173109/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 476.4333670069561, + 1029.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.4333670069561, + 1026.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.4333670069561, + 1023.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 476.4333670069561, + 1020.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 476.4333670069561, + 1017.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 476.4333670069561, + 1014.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 476.4333670069561, + 1011.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 476.4333670069561, + 1008.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 476.4333670069561, + 1005.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.4333670069561, + 1002.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 476.4333670069561, + 999.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 476.4333670069561, + 996.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 476.4333670069561, + 993.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 476.4333670069561, + 990.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 476.4333670069561, + 987.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 476.4333670069561, + 984.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 476.4333670069561, + 981.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 476.4333670069561, + 978.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 476.4333670069561, + 975.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 476.4333670069561, + 972.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 476.4333670069561, + 969.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.4333670069561, + 966.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 476.4333670069561, + 963.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.4333670069561, + 960.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 476.4333670069561, + 957.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 476.4333670069561, + 954.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.4333670069561, + 951.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 476.4333670069561, + 948.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.4333670069561, + 945.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.4333670069561, + 942.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 476.4333670069561, + 939.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 476.4333670069561, + 936.2715237905422, + 32.29790636139719 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 476.4333670069561, + 936.2715237905422, + 32.29790636139719 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 476.4333670069561, + 936.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 473.83529079560276, + 934.7715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 471.23721458424944, + 933.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 468.6391383728961, + 931.7715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 466.0410621615428, + 930.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 463.4429859501895, + 928.7715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 460.8449097388362, + 927.2715237905422, + 32.29790636139719 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 458.24683352748286, + 925.7715237905422, + 32.29790636139719 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-53-46_972058109/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-53-46_972058109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b41c910683a70659bc897af96b5730ff0fc57f5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_1-53-46_972058109/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1691.5380262301114, + 798.5223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1688.939950018758, + 797.0223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1686.3418738074047, + 795.5223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1683.7437975960513, + 794.0223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1681.145721384698, + 792.5223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1678.5476451733446, + 791.0223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1675.9495689619912, + 789.5223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1673.3514927506378, + 788.0223691121226, + 38.45423826274133 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1673.3514927506378, + 788.0223691121226, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1671.8514927506378, + 785.4242929007694, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1670.3514927506378, + 782.826216689416, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1668.8514927506378, + 780.2281404780626, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1667.3514927506378, + 777.6300642667093, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1665.8514927506378, + 775.0319880553559, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1664.3514927506378, + 772.4339118440025, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1662.8514927506378, + 769.8358356326492, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1661.3514927506378, + 767.2377594212958, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1659.8514927506378, + 764.6396832099424, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1658.3514927506378, + 762.041606998589, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1656.8514927506378, + 759.4435307872357, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1655.3514927506378, + 756.8454545758823, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1653.8514927506378, + 754.2473783645289, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1652.3514927506378, + 751.6493021531755, + 38.45423826274133 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1652.3514927506378, + 751.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1652.3514927506378, + 748.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1652.3514927506378, + 745.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1652.3514927506378, + 742.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1652.3514927506378, + 739.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1652.3514927506378, + 736.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1652.3514927506378, + 733.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1652.3514927506378, + 730.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1652.3514927506378, + 727.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1652.3514927506378, + 724.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1652.3514927506378, + 721.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1652.3514927506378, + 718.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1652.3514927506378, + 715.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1652.3514927506378, + 712.6493021531755, + 38.45423826274133 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1652.3514927506378, + 712.6493021531755, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1650.8514927506378, + 710.0512259418222, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1649.3514927506378, + 707.4531497304688, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1647.8514927506378, + 704.8550735191154, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1646.3514927506378, + 702.256997307762, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1644.8514927506378, + 699.6589210964087, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1643.3514927506378, + 697.0608448850553, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1641.8514927506378, + 694.4627686737019, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1640.3514927506378, + 691.8646924623486, + 38.45423826274133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1638.8514927506378, + 689.2666162509952, + 38.45423826274133 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1628.0, + 672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-17-46_1602182790/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-17-46_1602182790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58d82455df810b3d9a76cf93846574f40a82dcc9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-17-46_1602182790/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1585.3135883892849, + 1551.7420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1587.9116646006382, + 1553.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1590.5097408119916, + 1554.7420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1593.107817023345, + 1556.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1595.7058932346984, + 1557.7420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1598.3039694460517, + 1559.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1600.902045657405, + 1560.7420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1603.5001218687585, + 1562.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1606.0981980801118, + 1563.7420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1608.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1608.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1611.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1614.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1617.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1620.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1623.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1626.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1629.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1632.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1635.6962742914652, + 1565.2420029062018, + 30.88485112202195 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-19-59_442482781/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-19-59_442482781/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8b059d3279fa6a4cd3aa95eb8a050bc248617d3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-19-59_442482781/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 346.0390431976984, + 799.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 348.6371194090517, + 801.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 351.235195620405, + 802.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 353.83327183175834, + 804.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 356.43134804311165, + 805.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 359.02942425446497, + 807.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.6275004658183, + 808.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 364.2255766771716, + 810.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 366.8236528885249, + 811.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 369.42172909987823, + 813.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 372.01980531123155, + 814.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 374.61788152258487, + 816.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 377.2159577339382, + 817.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 379.8140339452915, + 819.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.4121101566448, + 820.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.01018636799813, + 822.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 387.60826257935145, + 823.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 390.20633879070476, + 825.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 392.8044150020581, + 826.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 395.4024912134114, + 828.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 398.0005674247647, + 829.8063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 400.598643636118, + 831.3063522708462, + 36.1323536723735 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 400.598643636118, + 831.3063522708462, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 402.098643636118, + 833.9044284821996, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 403.598643636118, + 836.502504693553, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 405.098643636118, + 839.1005809049063, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 406.598643636118, + 841.6986571162597, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 408.098643636118, + 844.2967333276131, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 409.598643636118, + 846.8948095389665, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 411.098643636118, + 849.4928857503198, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 412.598643636118, + 852.0909619616732, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 414.098643636118, + 854.6890381730266, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 415.598643636118, + 857.28711438438, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 417.098643636118, + 859.8851905957333, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 418.598643636118, + 862.4832668070867, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 420.098643636118, + 865.0813430184401, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 421.598643636118, + 867.6794192297934, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 423.098643636118, + 870.2774954411468, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 424.598643636118, + 872.8755716525002, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 426.098643636118, + 875.4736478638536, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 427.598643636118, + 878.0717240752069, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 429.098643636118, + 880.6698002865603, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 430.598643636118, + 883.2678764979137, + 36.1323536723735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 432.098643636118, + 885.865952709267, + 36.1323536723735 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-44_1115917669/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-44_1115917669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26111665b7c9934b803bec34c290c7c185683dee --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-44_1115917669/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 971.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 974.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 977.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 980.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 983.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 986.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 989.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 992.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 995.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 998.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1001.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1004.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1007.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1010.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1013.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1016.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1019.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1022.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1025.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1028.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1031.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1034.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1037.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1040.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1043.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1046.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1049.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1052.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1055.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1058.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1061.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1064.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1067.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1070.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1073.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1076.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1079.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1082.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1085.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1088.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1088.1487947860596, + -1710.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1090.746870997413, + -1709.4787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1093.3449472087664, + -1707.9787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1095.9430234201197, + -1706.4787891941307, + 33.76649587831075 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1098.5410996314731, + -1704.9787891941307, + 33.76649587831075 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1120.0, + -1704.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-4_504038566/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-4_504038566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16127503e9c035e1fae1afd759f441ec1bfd7b71 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-25-4_504038566/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1750.7943099505621, + -124.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1753.3923861619155, + -125.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1755.9904623732689, + -127.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1758.5885385846223, + -128.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1761.1866147959756, + -130.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1763.784691007329, + -131.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1766.3827672186824, + -133.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1768.9808434300357, + -134.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1771.5789196413891, + -136.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1774.1769958527425, + -137.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1776.7750720640959, + -139.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1779.3731482754492, + -140.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1781.9712244868026, + -142.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1784.569300698156, + -143.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1787.1673769095094, + -145.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1789.7654531208627, + -146.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1792.363529332216, + -148.29741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1794.9616055435695, + -149.79741051845062, + 36.281024955879786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1797.5596817549228, + -151.29741051845062, + 36.281024955879786 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-30-40_111387570/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-30-40_111387570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80ea63edf4798a66d54cf3a751ee150e47ea03ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-30-40_111387570/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1655.9459843840546, + -1365.2160312810925, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1658.544060595408, + -1363.7160312810925, + 30.7528044643224 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1658.544060595408, + -1363.7160312810925, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1660.044060595408, + -1361.117955069739, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1661.544060595408, + -1358.5198788583857, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1663.044060595408, + -1355.9218026470323, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1664.544060595408, + -1353.323726435679, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1666.044060595408, + -1350.7256502243256, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1667.544060595408, + -1348.1275740129722, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1669.044060595408, + -1345.5294978016188, + 30.7528044643224 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1669.044060595408, + -1345.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1671.6421368067613, + -1344.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1674.2402130181147, + -1342.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1676.838289229468, + -1341.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1679.4363654408214, + -1339.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1682.0344416521748, + -1338.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1684.6325178635282, + -1336.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1687.2305940748815, + -1335.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1689.828670286235, + -1333.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1692.4267464975883, + -1332.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1695.0248227089417, + -1330.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1697.622898920295, + -1329.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1700.2209751316484, + -1327.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1702.8190513430018, + -1326.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1705.4171275543551, + -1324.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1708.0152037657085, + -1323.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1710.613279977062, + -1321.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1713.2113561884153, + -1320.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1715.8094323997686, + -1318.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1718.407508611122, + -1317.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1721.0055848224754, + -1315.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1723.6036610338288, + -1314.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1726.2017372451821, + -1312.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1728.7998134565355, + -1311.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1731.3978896678889, + -1309.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1733.9959658792422, + -1308.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1736.5940420905956, + -1306.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1739.192118301949, + -1305.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1741.7901945133024, + -1303.5294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1744.3882707246557, + -1302.0294978016188, + 30.7528044643224 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1744.3882707246557, + -1302.0294978016188, + 30.7528044643224 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1747.3882707246557, + -1302.0294978016188, + 30.7528044643224 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -1292.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-53-26_246088582/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-53-26_246088582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d315e761f508964d6b334cd1114b6320143a450 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-53-26_246088582/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -739.7481260179318, + 1786.7283226573206, + 33.050659365358655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -739.7481260179318, + 1789.7283226573206, + 33.050659365358655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.7481260179318, + 1792.7283226573206, + 33.050659365358655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.7481260179318, + 1795.7283226573206, + 33.050659365358655 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -739.7481260179318, + 1795.7283226573206, + 33.050659365358655 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.2481260179318, + 1798.326398868674, + 33.050659365358655 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.0, + 1896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-55-52_1304352949/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-55-52_1304352949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6b451b8842d9831f6e7ebf2a2b6cafabbf5fa82 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_10-55-52_1304352949/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -932.2121972688665, + 1655.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -934.8102734802198, + 1653.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -937.4083496915732, + 1652.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -940.0064259029266, + 1650.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -942.60450211428, + 1649.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -945.2025783256333, + 1647.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -947.8006545369867, + 1646.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -950.3987307483401, + 1644.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -952.9968069596935, + 1643.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -955.5948831710468, + 1641.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.1929593824002, + 1640.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -960.7910355937536, + 1638.588976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -963.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -963.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -966.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -969.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -972.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -975.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -978.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -981.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -984.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -987.389111805107, + 1637.088976467833, + 37.79284596694329 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1032.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-12-8_1101709878/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-12-8_1101709878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3513221afbb4dd3d7cff84fc3a42fbf1c5ffaa4c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-12-8_1101709878/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -725.9179354538608, + -1278.0362673907134, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.4179354538608, + -1275.43819117936, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.9179354538608, + -1272.8401149680067, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -730.4179354538608, + -1270.2420387566533, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -731.9179354538608, + -1267.6439625453, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -733.4179354538608, + -1265.0458863339466, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -734.9179354538608, + -1262.4478101225932, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -736.4179354538608, + -1259.8497339112398, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -737.9179354538608, + -1257.2516576998864, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -739.4179354538608, + -1254.653581488533, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.9179354538608, + -1252.0555052771797, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -742.4179354538608, + -1249.4574290658263, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -743.9179354538608, + -1246.859352854473, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.4179354538608, + -1244.2612766431196, + 38.49063904270197 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -745.4179354538608, + -1244.2612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -745.4179354538608, + -1241.2612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.4179354538608, + -1238.2612766431196, + 38.49063904270197 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.4179354538608, + -1238.2612766431196, + 38.49063904270197 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.4179354538608, + -1238.2612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.0160116652141, + -1236.7612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -750.6140878765675, + -1235.2612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -753.2121640879209, + -1233.7612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -755.8102402992743, + -1232.2612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -758.4083165106276, + -1230.7612766431196, + 38.49063904270197 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -758.4083165106276, + -1230.7612766431196, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -759.9083165106276, + -1228.1632004317662, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -761.4083165106276, + -1225.5651242204128, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -762.9083165106276, + -1222.9670480090595, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -764.4083165106276, + -1220.368971797706, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.9083165106276, + -1217.7708955863527, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -767.4083165106276, + -1215.1728193749993, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -768.9083165106276, + -1212.574743163646, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -770.4083165106276, + -1209.9766669522926, + 38.49063904270197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -771.9083165106276, + -1207.3785907409392, + 38.49063904270197 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-37_1719506853/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-37_1719506853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11e530fa8d5416424a2d39363bc82816819d0caa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-37_1719506853/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1754.1263680349382, + 844.7271275199527, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1755.6263680349382, + 842.1290513085994, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1757.1263680349382, + 839.530975097246, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1758.6263680349382, + 836.9328988858927, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1760.1263680349382, + 834.3348226745393, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1761.6263680349382, + 831.7367464631859, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1763.1263680349382, + 829.1386702518325, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1764.6263680349382, + 826.5405940404792, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1766.1263680349382, + 823.9425178291258, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1767.6263680349382, + 821.3444416177724, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1769.1263680349382, + 818.746365406419, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1770.6263680349382, + 816.1482891950657, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1772.1263680349382, + 813.5502129837123, + 36.52185002783527 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1772.1263680349382, + 813.5502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1774.7244442462916, + 812.0502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1777.322520457645, + 810.5502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1779.9205966689983, + 809.0502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1782.5186728803517, + 807.5502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1785.116749091705, + 806.0502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1787.7148253030584, + 804.5502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1790.3129015144118, + 803.0502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1792.9109777257652, + 801.5502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1795.5090539371186, + 800.0502129837123, + 36.52185002783527 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1798.107130148472, + 798.5502129837123, + 36.52185002783527 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-54_278608944/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-54_278608944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dc8336cf0a3e11b5932458ffc6b78beafbacf3d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-13-54_278608944/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1495.6411096568588, + 1780.3974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1493.0430334455054, + 1778.8974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1490.444957234152, + 1777.3974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1487.8468810227987, + 1775.8974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1485.2488048114453, + 1774.3974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1482.650728600092, + 1772.8974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1480.0526523887386, + 1771.3974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1477.4545761773852, + 1769.8974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1474.8564999660318, + 1768.3974463199502, + 33.151768948055874 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1474.8564999660318, + 1768.3974463199502, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1473.3564999660318, + 1765.7993701085968, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1471.8564999660318, + 1763.2012938972434, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1470.3564999660318, + 1760.60321768589, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1468.8564999660318, + 1758.0051414745367, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1467.3564999660318, + 1755.4070652631833, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1465.8564999660318, + 1752.80898905183, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1464.3564999660318, + 1750.2109128404766, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1462.8564999660318, + 1747.6128366291232, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1461.3564999660318, + 1745.0147604177698, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1459.8564999660318, + 1742.4166842064164, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1458.3564999660318, + 1739.818607995063, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1456.8564999660318, + 1737.2205317837097, + 33.151768948055874 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1456.8564999660318, + 1737.2205317837097, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1454.2584237546785, + 1735.7205317837097, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1451.660347543325, + 1734.2205317837097, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1449.0622713319717, + 1732.7205317837097, + 33.151768948055874 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1449.0622713319717, + 1732.7205317837097, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1447.5622713319717, + 1730.1224555723563, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1446.0622713319717, + 1727.524379361003, + 33.151768948055874 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1446.0622713319717, + 1727.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1446.0622713319717, + 1724.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1446.0622713319717, + 1721.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1446.0622713319717, + 1718.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1446.0622713319717, + 1715.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1446.0622713319717, + 1712.524379361003, + 33.151768948055874 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1446.0622713319717, + 1712.524379361003, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1444.5622713319717, + 1709.9263031496496, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1443.0622713319717, + 1707.3282269382962, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1441.5622713319717, + 1704.7301507269428, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1440.0622713319717, + 1702.1320745155895, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1438.5622713319717, + 1699.533998304236, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1437.0622713319717, + 1696.9359220928827, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1435.5622713319717, + 1694.3378458815293, + 33.151768948055874 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1435.5622713319717, + 1694.3378458815293, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1432.9641951206183, + 1692.8378458815293, + 33.151768948055874 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1430.366118909265, + 1691.3378458815293, + 33.151768948055874 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1420.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-16-0_61204105/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-16-0_61204105/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7151422c310e32d0af2ce5c9fd83ce9abfb6ffc6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-16-0_61204105/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -941.8024648440877, + 1244.1034550624013, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -943.3024648440877, + 1246.7015312737547, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -944.8024648440877, + 1249.299607485108, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -946.3024648440877, + 1251.8976836964614, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -947.8024648440877, + 1254.4957599078148, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -949.3024648440877, + 1257.0938361191681, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -950.8024648440877, + 1259.6919123305215, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -952.3024648440877, + 1262.289988541875, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -953.8024648440877, + 1264.8880647532283, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -955.3024648440877, + 1267.4861409645816, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -956.8024648440877, + 1270.084217175935, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -958.3024648440877, + 1272.6822933872884, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.8024648440877, + 1275.2803695986418, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -961.3024648440877, + 1277.8784458099951, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -962.8024648440877, + 1280.4765220213485, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -964.3024648440877, + 1283.0745982327019, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -965.8024648440877, + 1285.6726744440552, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -967.3024648440877, + 1288.2707506554086, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -968.8024648440877, + 1290.868826866762, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -970.3024648440877, + 1293.4669030781154, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -971.8024648440877, + 1296.0649792894687, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -973.3024648440877, + 1298.663055500822, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -974.8024648440877, + 1301.2611317121755, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -976.3024648440877, + 1303.8592079235289, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -977.8024648440877, + 1306.4572841348822, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -979.3024648440877, + 1309.0553603462356, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -980.8024648440877, + 1311.653436557589, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -982.3024648440877, + 1314.2515127689423, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -983.8024648440877, + 1316.8495889802957, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -985.3024648440877, + 1319.447665191649, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -986.8024648440877, + 1322.0457414030025, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -988.3024648440877, + 1324.6438176143558, + 37.40394384779545 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -988.3024648440877, + 1324.6438176143558, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -988.3024648440877, + 1327.6438176143558, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -988.3024648440877, + 1330.6438176143558, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -988.3024648440877, + 1333.6438176143558, + 37.40394384779545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -988.3024648440877, + 1336.6438176143558, + 37.40394384779545 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1004.0, + 1372.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-21-49_1891363558/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-21-49_1891363558/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69a736272e878f55b2697ca4b81736fa6917f022 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-21-49_1891363558/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -788.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -785.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -773.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -770.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -761.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -755.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -752.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -749.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -746.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -743.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -734.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -734.6791646006703, + -1271.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -732.0810883893171, + -1269.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.4830121779637, + -1268.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -726.8849359666103, + -1266.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -724.286859755257, + -1265.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -721.6887835439036, + -1263.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -719.0907073325502, + -1262.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -716.4926311211968, + -1260.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -713.8945549098435, + -1259.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -711.2964786984901, + -1257.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -708.6984024871367, + -1256.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -706.1003262757833, + -1254.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.50225006443, + -1253.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.9041738530766, + -1251.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -698.3060976417232, + -1250.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -695.7080214303699, + -1248.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.1099452190165, + -1247.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -690.5118690076631, + -1245.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.9137927963097, + -1244.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -685.3157165849564, + -1242.8765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -682.717640373603, + -1241.3765393134468, + 33.74426001178034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -680.1195641622496, + -1239.8765393134468, + 33.74426001178034 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -660.0, + -1232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-25-37_1199311796/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-25-37_1199311796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..661fe66d8c8708af8e30a3bafa0b4853a5ff8553 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-25-37_1199311796/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1721.3513815652534, + 13.896560438055104, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1719.8513815652534, + 11.298484226701788, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1718.3513815652534, + 8.700408015348472, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1716.8513815652534, + 6.102331803995156, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1715.3513815652534, + 3.50425559264184, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1713.8513815652534, + 0.9061793812885242, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1712.3513815652534, + -1.6918968300647919, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1710.8513815652534, + -4.289973041418108, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1709.3513815652534, + -6.888049252771424, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1707.8513815652534, + -9.48612546412474, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1706.3513815652534, + -12.084201675478056, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1704.8513815652534, + -14.682277886831372, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1703.3513815652534, + -17.280354098184688, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1701.8513815652534, + -19.878430309538004, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1700.3513815652534, + -22.47650652089132, + 35.180963457156494 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1700.3513815652534, + -22.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1700.3513815652534, + -25.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1700.3513815652534, + -28.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1700.3513815652534, + -31.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1700.3513815652534, + -34.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1700.3513815652534, + -37.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1700.3513815652534, + -40.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1700.3513815652534, + -43.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1700.3513815652534, + -46.47650652089132, + 35.180963457156494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1700.3513815652534, + -49.47650652089132, + 35.180963457156494 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1684.0, + -112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-11_236616554/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-11_236616554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c15f446d0643354d73a8f5dc36b36d825ee550fa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-11_236616554/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.4681080976683, + 1381.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -977.4681080976683, + 1378.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -977.4681080976683, + 1375.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -977.4681080976683, + 1372.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -977.4681080976683, + 1369.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -977.4681080976683, + 1366.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -977.4681080976683, + 1363.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -977.4681080976683, + 1360.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -977.4681080976683, + 1357.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -977.4681080976683, + 1354.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.4681080976683, + 1351.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -977.4681080976683, + 1348.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -977.4681080976683, + 1345.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -977.4681080976683, + 1342.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -977.4681080976683, + 1339.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -977.4681080976683, + 1336.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -977.4681080976683, + 1333.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.4681080976683, + 1330.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -977.4681080976683, + 1327.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -977.4681080976683, + 1324.9870047195664, + 30.90815433743348 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.4681080976683, + 1324.9870047195664, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -978.9681080976683, + 1322.388928508213, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -980.4681080976683, + 1319.7908522968596, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -981.9681080976683, + 1317.1927760855062, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -983.4681080976683, + 1314.5946998741529, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -984.9681080976683, + 1311.9966236627995, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -986.4681080976683, + 1309.3985474514461, + 30.90815433743348 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -987.9681080976683, + 1306.8004712400927, + 30.90815433743348 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -992.0, + 1280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-32_1533803669/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-32_1533803669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0662786735b50a348774b2ba274568186bf0fb7a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-27-32_1533803669/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 506.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 509.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 512.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 515.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 518.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 521.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 524.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 527.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 530.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 533.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 536.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 539.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 542.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 545.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 548.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 551.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 554.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 557.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 560.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 560.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 560.6074999966605, + 866.5403915812626, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 562.1074999966605, + 863.9423153699092, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 563.6074999966605, + 861.3442391585559, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 565.1074999966605, + 858.7461629472025, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 566.6074999966605, + 856.1480867358491, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 568.1074999966605, + 853.5500105244957, + 37.61906086213875 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 568.1074999966605, + 853.5500105244957, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 570.7055762080138, + 852.0500105244957, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 573.3036524193672, + 850.5500105244957, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 575.9017286307205, + 849.0500105244957, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 578.4998048420739, + 847.5500105244957, + 37.61906086213875 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 581.0978810534273, + 846.0500105244957, + 37.61906086213875 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 608.0, + 840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-41-33_1409907854/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-41-33_1409907854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d427392b4da5a33b2c8b2f1740c8a14614131b5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-41-33_1409907854/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1636.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1639.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1642.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1645.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1648.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1651.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1654.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1657.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1660.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1663.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1666.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1669.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1672.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1675.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1678.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1681.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1684.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1687.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1690.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1690.6915803141285, + 337.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1693.2896565254819, + 336.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1695.8877327368352, + 334.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1698.4858089481886, + 333.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1701.083885159542, + 331.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1703.6819613708954, + 330.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1706.2800375822487, + 328.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1708.878113793602, + 327.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1711.4761900049555, + 325.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1714.0742662163088, + 324.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1716.6723424276622, + 322.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1719.2704186390156, + 321.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1721.868494850369, + 319.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1724.4665710617223, + 318.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1727.0646472730757, + 316.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1729.662723484429, + 315.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1732.2607996957825, + 313.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1734.8588759071358, + 312.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1737.4569521184892, + 310.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1740.0550283298426, + 309.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1742.653104541196, + 307.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1745.2511807525493, + 306.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1747.8492569639027, + 304.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1750.447333175256, + 303.46586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1753.0454093866094, + 301.96586075437034, + 36.22146388292264 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1755.6434855979628, + 300.46586075437034, + 36.22146388292264 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-50-9_1598564401/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-50-9_1598564401/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d58316cfdade7e5b83e20e5ed783afc7c1b5d7ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-50-9_1598564401/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1653.1164156233706, + 451.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1653.1164156233706, + 454.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1653.1164156233706, + 457.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1653.1164156233706, + 460.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1653.1164156233706, + 463.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1653.1164156233706, + 466.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1653.1164156233706, + 469.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1653.1164156233706, + 472.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1653.1164156233706, + 475.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1653.1164156233706, + 478.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1653.1164156233706, + 481.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1653.1164156233706, + 484.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1653.1164156233706, + 487.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1653.1164156233706, + 490.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1653.1164156233706, + 493.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1653.1164156233706, + 496.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1653.1164156233706, + 499.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1653.1164156233706, + 502.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1653.1164156233706, + 505.3960904232564, + 35.17044257320816 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1653.1164156233706, + 505.3960904232564, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1654.6164156233706, + 507.9941666346097, + 35.17044257320816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1656.1164156233706, + 510.592242845963, + 35.17044257320816 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1664.0, + 600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-52-41_1110980456/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-52-41_1110980456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a2dc3c8419df42a427e46f2d9afacddbc8c87a1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-52-41_1110980456/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1010.0858161665747, + -475.8574370232378, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1011.5858161665747, + -473.2593608118845, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1013.0858161665747, + -470.6612846005312, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1014.5858161665747, + -468.0632083891779, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1016.0858161665747, + -465.46513217782456, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1017.5858161665747, + -462.86705596647124, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1019.0858161665747, + -460.2689797551179, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1020.5858161665747, + -457.6709035437646, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1022.0858161665747, + -455.0728273324113, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1023.5858161665747, + -452.474751121058, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1025.0858161665747, + -449.87667490970466, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1026.5858161665747, + -447.27859869835135, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1028.0858161665747, + -444.68052248699803, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1029.5858161665747, + -442.0824462756447, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1031.0858161665747, + -439.4843700642914, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1032.5858161665747, + -436.8862938529381, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1034.0858161665747, + -434.28821764158477, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1035.5858161665747, + -431.69014143023145, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1037.0858161665747, + -429.09206521887813, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1038.5858161665747, + -426.4939890075248, + 34.29264266831834 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1038.5858161665747, + -426.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1038.5858161665747, + -423.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1038.5858161665747, + -420.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1038.5858161665747, + -417.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1038.5858161665747, + -414.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1038.5858161665747, + -411.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1038.5858161665747, + -408.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1038.5858161665747, + -405.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1038.5858161665747, + -402.4939890075248, + 34.29264266831834 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1038.5858161665747, + -399.4939890075248, + 34.29264266831834 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + -356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-56-36_1543678155/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-56-36_1543678155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72ad795d3d828ebd9115bfdbb177c66a5329ed22 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_11-56-36_1543678155/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 554.6738651517725, + 169.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 554.6738651517725, + 172.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 554.6738651517725, + 175.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 554.6738651517725, + 178.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 554.6738651517725, + 181.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 554.6738651517725, + 184.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 554.6738651517725, + 187.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 554.6738651517725, + 190.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 554.6738651517725, + 193.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 554.6738651517725, + 196.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 554.6738651517725, + 199.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 554.6738651517725, + 202.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 554.6738651517725, + 205.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 554.6738651517725, + 208.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 554.6738651517725, + 211.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 554.6738651517725, + 214.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 554.6738651517725, + 217.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 554.6738651517725, + 220.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 554.6738651517725, + 223.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 554.6738651517725, + 226.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 554.6738651517725, + 229.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 554.6738651517725, + 232.36480832162437, + 39.15687667413212 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 554.6738651517725, + 232.36480832162437, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 556.1738651517725, + 234.96288453297768, + 39.15687667413212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 557.6738651517725, + 237.560960744331, + 39.15687667413212 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-12-57_189409560/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-12-57_189409560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b02a28e0661e5ca22d229ef7bd9b31274d2227c0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-12-57_189409560/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.285123466802, + -414.1331674931916, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -978.785123466802, + -411.5350912818383, + 31.078371155673995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -978.785123466802, + -411.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -978.785123466802, + -408.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -978.785123466802, + -405.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -978.785123466802, + -402.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -978.785123466802, + -399.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -978.785123466802, + -396.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -978.785123466802, + -393.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -978.785123466802, + -390.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -978.785123466802, + -387.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -978.785123466802, + -384.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -978.785123466802, + -381.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -978.785123466802, + -378.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -978.785123466802, + -375.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -978.785123466802, + -372.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -978.785123466802, + -369.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -978.785123466802, + -366.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -978.785123466802, + -363.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -978.785123466802, + -360.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -978.785123466802, + -357.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -978.785123466802, + -354.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -978.785123466802, + -351.5350912818383, + 31.078371155673995 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -978.785123466802, + -351.5350912818383, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -980.285123466802, + -348.93701507048496, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -981.785123466802, + -346.33893885913164, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -983.285123466802, + -343.74086264777833, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -984.785123466802, + -341.142786436425, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -986.285123466802, + -338.5447102250717, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -987.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -987.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -990.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -993.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -996.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -999.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1002.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1005.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1008.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1011.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1011.785123466802, + -335.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1014.3831996781553, + -337.4466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1016.9812758895087, + -338.9466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1019.579352100862, + -340.4466340137184, + 31.078371155673995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1019.579352100862, + -340.4466340137184, + 31.078371155673995 + ], + "type": "turn right", + "value": 30, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1019.579352100862, + -340.4466340137184, + 31.078371155673995 + ], + "type": "go straight", + "value": 3, + "yaw": -3.665191429188101 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1022.1774283122154, + -338.9466340137184, + 31.078371155673995 + ], + "type": "stop", + "value": 0, + "yaw": -3.665191429188101 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1040.0, + -312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-13-32_1268126901/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-13-32_1268126901/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd0cd8ccb44aa266a53503a994d104c0b7edd6e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-13-32_1268126901/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1751.8064097016452, + 1214.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1751.8064097016452, + 1211.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1751.8064097016452, + 1208.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1751.8064097016452, + 1205.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1751.8064097016452, + 1202.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1751.8064097016452, + 1199.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1751.8064097016452, + 1196.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1751.8064097016452, + 1193.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1751.8064097016452, + 1190.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1751.8064097016452, + 1187.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1751.8064097016452, + 1184.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1751.8064097016452, + 1181.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1751.8064097016452, + 1178.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1751.8064097016452, + 1175.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1751.8064097016452, + 1172.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1751.8064097016452, + 1169.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1751.8064097016452, + 1166.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1751.8064097016452, + 1163.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1751.8064097016452, + 1160.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1751.8064097016452, + 1157.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1751.8064097016452, + 1154.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1751.8064097016452, + 1151.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1751.8064097016452, + 1148.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1751.8064097016452, + 1145.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1751.8064097016452, + 1142.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1751.8064097016452, + 1139.6945071123469, + 36.55644427809064 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1751.8064097016452, + 1136.6945071123469, + 36.55644427809064 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1748.0, + 1068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-8-5_217985588/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-8-5_217985588/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..528f520e64620c6fde9604ae45ee92a24786e6a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_12-8-5_217985588/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -830.3720130310347, + 1789.2601899217848, + 33.229416010911905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -828.8720130310347, + 1791.8582661331382, + 33.229416010911905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -827.3720130310347, + 1794.4563423444915, + 33.229416010911905 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -825.8720130310347, + 1797.054418555845, + 33.229416010911905 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.0, + 1896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-20-43_219544266/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-20-43_219544266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf359ca9ec14fbd5e159d2f99bf3e90ed84f3f4d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-20-43_219544266/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1503.8731425522021, + 591.328938903192, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1502.3731425522021, + 588.7308626918386, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1500.8731425522021, + 586.1327864804853, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1499.3731425522021, + 583.5347102691319, + 30.003885052365863 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1499.3731425522021, + 583.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1499.3731425522021, + 580.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1499.3731425522021, + 577.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1499.3731425522021, + 574.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1499.3731425522021, + 571.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1499.3731425522021, + 568.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1499.3731425522021, + 565.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1499.3731425522021, + 562.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1499.3731425522021, + 559.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1499.3731425522021, + 556.5347102691319, + 30.003885052365863 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1499.3731425522021, + 556.5347102691319, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1497.8731425522021, + 553.9366340577785, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1496.3731425522021, + 551.3385578464251, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1494.8731425522021, + 548.7404816350718, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1493.3731425522021, + 546.1424054237184, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1491.8731425522021, + 543.544329212365, + 30.003885052365863 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1491.8731425522021, + 543.544329212365, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1489.2750663408488, + 542.044329212365, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1486.6769901294954, + 540.544329212365, + 30.003885052365863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1484.078913918142, + 539.044329212365, + 30.003885052365863 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 464.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-30-51_1326247643/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-30-51_1326247643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a80a57333033255a4052d62d340f42099798de80 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-30-51_1326247643/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1161.4306244636625, + -465.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1164.028700675016, + -467.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1166.6267768863693, + -468.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1169.2248530977226, + -470.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1171.822929309076, + -471.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1174.4210055204294, + -473.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1177.0190817317828, + -474.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1179.6171579431361, + -476.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1182.2152341544895, + -477.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1184.8133103658429, + -479.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1187.4113865771963, + -480.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1190.0094627885496, + -482.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1192.607538999903, + -483.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1195.2056152112564, + -485.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1197.8036914226097, + -486.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1200.4017676339631, + -488.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1202.9998438453165, + -489.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1205.5979200566699, + -491.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1208.1959962680232, + -492.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1210.7940724793766, + -494.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1213.39214869073, + -495.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1215.9902249020834, + -497.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1218.5883011134367, + -498.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1221.18637732479, + -500.10745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1223.7844535361435, + -501.60745427832245, + 34.23115090306949 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1223.7844535361435, + -501.60745427832245, + 34.23115090306949 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1226.7844535361435, + -501.60745427832245, + 34.23115090306949 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-4-37_873199181/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-4-37_873199181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46eee6e95165077fee65ad6274ecf09c27680fc8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-4-37_873199181/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1542.9638723151957, + -1115.3190350650855, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1544.4638723151957, + -1117.9171112764388, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1545.9638723151957, + -1120.5151874877922, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1547.4638723151957, + -1123.1132636991456, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1548.9638723151957, + -1125.711339910499, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1550.4638723151957, + -1128.3094161218523, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1551.9638723151957, + -1130.9074923332057, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1553.4638723151957, + -1133.505568544559, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1554.9638723151957, + -1136.1036447559125, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1556.4638723151957, + -1138.7017209672658, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1557.9638723151957, + -1141.2997971786192, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1559.4638723151957, + -1143.8978733899726, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1560.9638723151957, + -1146.495949601326, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1562.4638723151957, + -1149.0940258126793, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1563.9638723151957, + -1151.6921020240327, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1565.4638723151957, + -1154.290178235386, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1566.9638723151957, + -1156.8882544467394, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1568.4638723151957, + -1159.4863306580928, + 36.2783205447634 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1568.4638723151957, + -1159.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1568.4638723151957, + -1162.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1568.4638723151957, + -1165.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1568.4638723151957, + -1168.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1568.4638723151957, + -1171.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1568.4638723151957, + -1174.4863306580928, + 36.2783205447634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1568.4638723151957, + -1177.4863306580928, + 36.2783205447634 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1592.0, + -1228.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-45-1_1238498976/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-45-1_1238498976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c9e1f97fa80846a68122a72feb0d0e1449ffd13 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-45-1_1238498976/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1472.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1475.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1478.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1481.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1484.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1487.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1487.2454104758617, + 198.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1489.843486687215, + 200.47429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1492.4415628985685, + 201.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1495.0396391099218, + 203.47429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1497.6377153212752, + 204.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1500.2357915326286, + 206.47429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1502.833867743982, + 207.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1505.4319439553353, + 209.47429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1508.0300201666887, + 210.97429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1510.628096378042, + 212.47429186979755, + 34.544051159307095 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1510.628096378042, + 212.47429186979755, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1512.128096378042, + 215.07236808115087, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1513.628096378042, + 217.6704442925042, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1515.128096378042, + 220.2685205038575, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1516.628096378042, + 222.86659671521082, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1518.128096378042, + 225.46467292656413, + 34.544051159307095 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1519.628096378042, + 228.06274913791745, + 34.544051159307095 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1572.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-49-2_629580952/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-49-2_629580952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9739aeee1d48eb99e4fa48ae6e224e87c286316 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-49-2_629580952/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1131.7892406362314, + -795.7008739948069, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1133.2892406362314, + -793.1027977834535, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1134.7892406362314, + -790.5047215721002, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1136.2892406362314, + -787.9066453607468, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1137.7892406362314, + -785.3085691493934, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1139.2892406362314, + -782.71049293804, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1140.7892406362314, + -780.1124167266867, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1142.2892406362314, + -777.5143405153333, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1143.7892406362314, + -774.9162643039799, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1145.2892406362314, + -772.3181880926265, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1146.7892406362314, + -769.7201118812732, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1148.2892406362314, + -767.1220356699198, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1149.7892406362314, + -764.5239594585664, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1151.2892406362314, + -761.925883247213, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1152.7892406362314, + -759.3278070358597, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1154.2892406362314, + -756.7297308245063, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1155.7892406362314, + -754.1316546131529, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1157.2892406362314, + -751.5335784017996, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1158.7892406362314, + -748.9355021904462, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1160.2892406362314, + -746.3374259790928, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1161.7892406362314, + -743.7393497677394, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1163.2892406362314, + -741.1412735563861, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1164.7892406362314, + -738.5431973450327, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1166.2892406362314, + -735.9451211336793, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1167.7892406362314, + -733.347044922326, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1169.2892406362314, + -730.7489687109726, + 31.362529922426674 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1170.7892406362314, + -728.1508924996192, + 31.362529922426674 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-50-54_1736491298/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-50-54_1736491298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59d704b7a4802847f4fa919e68e164e475bd3533 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-50-54_1736491298/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1469.6521021496062, + -449.2062254185716, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1468.1521021496062, + -451.8043016299249, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1466.6521021496062, + -454.4023778412782, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1465.1521021496062, + -457.00045405263154, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1463.6521021496062, + -459.59853026398486, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1462.1521021496062, + -462.19660647533817, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1460.6521021496062, + -464.7946826866915, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1459.1521021496062, + -467.3927588980448, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1457.6521021496062, + -469.9908351093981, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1456.1521021496062, + -472.58891132075144, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1454.6521021496062, + -475.18698753210475, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1453.1521021496062, + -477.78506374345807, + 30.345735406055496 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1453.1521021496062, + -477.78506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1453.1521021496062, + -480.78506374345807, + 30.345735406055496 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1453.1521021496062, + -480.78506374345807, + 30.345735406055496 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1453.1521021496062, + -480.78506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1450.5540259382528, + -482.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1447.9559497268995, + -483.78506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1445.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1445.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1442.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1439.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1436.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1433.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1430.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1427.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1424.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1421.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1418.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1415.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1412.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1409.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1406.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1403.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1400.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1397.357873515546, + -485.28506374345807, + 30.345735406055496 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1368.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-57-28_1528806445/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-57-28_1528806445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a776bfaa8dd93dc03d7a43a5cee7ba88672dd1c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_2-57-28_1528806445/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -957.0127830984484, + -727.269304036709, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -955.5127830984484, + -729.8673802480623, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -954.0127830984484, + -732.4654564594157, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -952.5127830984484, + -735.0635326707691, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -951.0127830984484, + -737.6616088821224, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -949.5127830984484, + -740.2596850934758, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -948.0127830984484, + -742.8577613048292, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -946.5127830984484, + -745.4558375161826, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -945.0127830984484, + -748.0539137275359, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -943.5127830984484, + -750.6519899388893, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -942.0127830984484, + -753.2500661502427, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -940.5127830984484, + -755.848142361596, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -939.0127830984484, + -758.4462185729494, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -937.5127830984484, + -761.0442947843028, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -936.0127830984484, + -763.6423709956562, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -934.5127830984484, + -766.2404472070095, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -933.0127830984484, + -768.8385234183629, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -931.5127830984484, + -771.4365996297163, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -930.0127830984484, + -774.0346758410697, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -928.5127830984484, + -776.632752052423, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -927.0127830984484, + -779.2308282637764, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -925.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -925.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -925.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -922.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -919.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -916.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -913.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -910.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -907.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -904.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -901.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -898.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -895.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -892.5127830984484, + -781.8289044751298, + 30.71409161421977 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -880.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-1-37_1539942439/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-1-37_1539942439/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b7e59a10dc735bc91f15c373716ed7433d82a8d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-1-37_1539942439/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1523.6582618287869, + -299.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1523.6582618287869, + -296.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1523.6582618287869, + -293.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1523.6582618287869, + -290.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1523.6582618287869, + -287.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1523.6582618287869, + -284.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1523.6582618287869, + -281.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1523.6582618287869, + -278.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1523.6582618287869, + -275.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1523.6582618287869, + -272.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1523.6582618287869, + -269.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1523.6582618287869, + -266.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1523.6582618287869, + -263.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1523.6582618287869, + -260.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1523.6582618287869, + -257.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1523.6582618287869, + -254.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1523.6582618287869, + -251.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1523.6582618287869, + -248.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1523.6582618287869, + -245.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1523.6582618287869, + -242.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1523.6582618287869, + -239.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1523.6582618287869, + -236.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1523.6582618287869, + -233.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1523.6582618287869, + -230.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1523.6582618287869, + -227.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1523.6582618287869, + -224.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1523.6582618287869, + -221.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1523.6582618287869, + -218.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1523.6582618287869, + -215.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1523.6582618287869, + -212.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1523.6582618287869, + -209.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1523.6582618287869, + -206.5518594341127, + 32.356189702960066 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1523.6582618287869, + -206.5518594341127, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1525.1582618287869, + -203.9537832227594, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1526.6582618287869, + -201.35570701140608, + 32.356189702960066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1528.1582618287869, + -198.75763080005277, + 32.356189702960066 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1528.0, + -172.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-19-33_1723578341/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-19-33_1723578341/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e26bd8cc97894237d8a19d96155b787827cfeaf5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-19-33_1723578341/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1711.2431399896714, + 1631.3710344022745, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1712.7431399896714, + 1633.969110613628, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1714.2431399896714, + 1636.5671868249813, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1715.7431399896714, + 1639.1652630363346, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1717.2431399896714, + 1641.763339247688, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1718.7431399896714, + 1644.3614154590414, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1720.2431399896714, + 1646.9594916703948, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1721.7431399896714, + 1649.5575678817481, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1723.2431399896714, + 1652.1556440931015, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1724.7431399896714, + 1654.7537203044549, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1726.2431399896714, + 1657.3517965158082, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1727.7431399896714, + 1659.9498727271616, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1729.2431399896714, + 1662.547948938515, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1730.7431399896714, + 1665.1460251498684, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1732.2431399896714, + 1667.7441013612217, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1733.7431399896714, + 1670.342177572575, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1735.2431399896714, + 1672.9402537839285, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1736.7431399896714, + 1675.5383299952819, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1738.2431399896714, + 1678.1364062066352, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1739.7431399896714, + 1680.7344824179886, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1741.2431399896714, + 1683.332558629342, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1742.7431399896714, + 1685.9306348406953, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1744.2431399896714, + 1688.5287110520487, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1745.7431399896714, + 1691.126787263402, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1747.2431399896714, + 1693.7248634747555, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1748.7431399896714, + 1696.3229396861088, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1750.2431399896714, + 1698.9210158974622, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1751.7431399896714, + 1701.5190921088156, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1753.2431399896714, + 1704.117168320169, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1754.7431399896714, + 1706.7152445315223, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1756.2431399896714, + 1709.3133207428757, + 35.18821928527582 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1756.2431399896714, + 1709.3133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1758.8412162010247, + 1710.8133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1761.439292412378, + 1712.3133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1764.0373686237315, + 1713.8133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1766.6354448350849, + 1715.3133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1769.2335210464382, + 1716.8133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1771.8315972577916, + 1718.3133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1774.429673469145, + 1719.8133207428757, + 35.18821928527582 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1777.0277496804983, + 1721.3133207428757, + 35.18821928527582 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1796.0, + 1744.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-23-58_1928189300/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-23-58_1928189300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7297f023b5156a3893c9156661a344e707c8076c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-23-58_1928189300/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 831.7301611213791, + 1686.4442041277703, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 830.2301611213791, + 1689.0422803391236, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 828.7301611213791, + 1691.640356550477, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 827.2301611213791, + 1694.2384327618304, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 825.7301611213791, + 1696.8365089731838, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 824.2301611213791, + 1699.4345851845371, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 822.7301611213791, + 1702.0326613958905, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 821.2301611213791, + 1704.6307376072439, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 819.7301611213791, + 1707.2288138185972, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 818.2301611213791, + 1709.8268900299506, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 816.7301611213791, + 1712.424966241304, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.2301611213791, + 1715.0230424526574, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 813.7301611213791, + 1717.6211186640107, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 812.2301611213791, + 1720.219194875364, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 810.7301611213791, + 1722.8172710867175, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 809.2301611213791, + 1725.4153472980709, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 807.7301611213791, + 1728.0134235094242, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 806.2301611213791, + 1730.6114997207776, + 34.4779391788168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 806.2301611213791, + 1730.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 806.2301611213791, + 1733.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 806.2301611213791, + 1736.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 806.2301611213791, + 1739.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 806.2301611213791, + 1742.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 806.2301611213791, + 1745.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 806.2301611213791, + 1748.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 806.2301611213791, + 1751.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 806.2301611213791, + 1754.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.2301611213791, + 1757.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 806.2301611213791, + 1760.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 806.2301611213791, + 1763.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 806.2301611213791, + 1766.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 806.2301611213791, + 1769.6114997207776, + 34.4779391788168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 806.2301611213791, + 1772.6114997207776, + 34.4779391788168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + 1792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-31-6_1724916170/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-31-6_1724916170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaf3ce960a9d4ff7561bf8d87f58e505037a5b93 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-31-6_1724916170/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1115.3090548734078, + -272.68220112172816, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1116.8090548734078, + -275.2802773330815, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1118.3090548734078, + -277.8783535444348, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1119.8090548734078, + -280.4764297557881, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1121.3090548734078, + -283.0745059671414, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1122.8090548734078, + -285.67258217849474, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1124.3090548734078, + -288.27065838984805, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1125.8090548734078, + -290.86873460120137, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1127.3090548734078, + -293.4668108125547, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1128.8090548734078, + -296.064887023908, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1130.3090548734078, + -298.6629632352613, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1131.8090548734078, + -301.26103944661463, + 32.82971075535277 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1131.8090548734078, + -301.26103944661463, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1131.8090548734078, + -304.26103944661463, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1131.8090548734078, + -307.26103944661463, + 32.82971075535277 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1131.8090548734078, + -310.26103944661463, + 32.82971075535277 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1164.0, + -392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-35-42_411826969/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-35-42_411826969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9bd0f622e814051caf583dc22a1f7361ae1dc48f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-35-42_411826969/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1770.1976245858743, + 191.13065944954118, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1771.6976245858743, + 193.7287356608945, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1773.1976245858743, + 196.32681187224782, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1774.6976245858743, + 198.92488808360113, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1776.1976245858743, + 201.52296429495445, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1777.6976245858743, + 204.12104050630776, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1779.1976245858743, + 206.71911671766108, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1780.6976245858743, + 209.3171929290144, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1782.1976245858743, + 211.9152691403677, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1783.6976245858743, + 214.51334535172103, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1785.1976245858743, + 217.11142156307434, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1786.6976245858743, + 219.70949777442766, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1788.1976245858743, + 222.30757398578098, + 30.261812878760022 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1788.1976245858743, + 222.30757398578098, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1790.7957007972277, + 223.80757398578098, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1793.393777008581, + 225.30757398578098, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1795.9918532199345, + 226.80757398578098, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1798.5899294312878, + 228.30757398578098, + 30.261812878760022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1801.1880056426412, + 229.80757398578098, + 30.261812878760022 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1856.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-48-33_568275358/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-48-33_568275358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52d425a7b3448a9da93e702af974ea2a663aeca1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-48-33_568275358/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1706.38864696513, + -1630.1034869294447, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1707.88864696513, + -1627.5054107180913, + 32.58911859925941 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1707.88864696513, + -1627.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1707.88864696513, + -1624.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1707.88864696513, + -1621.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1707.88864696513, + -1618.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1707.88864696513, + -1615.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1707.88864696513, + -1612.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1707.88864696513, + -1609.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1707.88864696513, + -1606.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1707.88864696513, + -1603.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1707.88864696513, + -1600.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1707.88864696513, + -1597.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1707.88864696513, + -1594.5054107180913, + 32.58911859925941 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1707.88864696513, + -1594.5054107180913, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1709.38864696513, + -1591.907334506738, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1710.88864696513, + -1589.3092582953846, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1712.38864696513, + -1586.7111820840312, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1713.88864696513, + -1584.1131058726778, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1715.38864696513, + -1581.5150296613244, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1716.88864696513, + -1578.916953449971, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1718.38864696513, + -1576.3188772386177, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1719.88864696513, + -1573.7208010272643, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1721.38864696513, + -1571.122724815911, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1722.88864696513, + -1568.5246486045576, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1724.38864696513, + -1565.9265723932042, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1725.88864696513, + -1563.3284961818508, + 32.58911859925941 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1725.88864696513, + -1563.3284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1728.4867231764833, + -1561.8284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1731.0847993878367, + -1560.3284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1733.68287559919, + -1558.8284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1736.2809518105435, + -1557.3284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1738.8790280218968, + -1555.8284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1741.4771042332502, + -1554.3284961818508, + 32.58911859925941 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1744.0751804446036, + -1552.8284961818508, + 32.58911859925941 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + -1532.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-6-2_507578762/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-6-2_507578762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9073982d10c372ccd8b2b3c4a9548eb3bd914781 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_3-6-2_507578762/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -300.54498091251855, + 395.85389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -303.14305712387187, + 394.35389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -305.7411333352252, + 392.85389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.3392095465785, + 391.35389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -310.9372857579318, + 389.85389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -313.53536196928513, + 388.35389645840644, + 35.85752826289996 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -316.13343818063845, + 386.85389645840644, + 35.85752826289996 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -404.0, + 324.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-11-48_1554725062/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-11-48_1554725062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10aaff7cb9cff60381c39759cf521c10f9f2a77b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-11-48_1554725062/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1588.735537427211, + 597.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1586.1374612158577, + 596.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1583.5393850045043, + 594.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1580.941308793151, + 593.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1578.3432325817976, + 591.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1575.7451563704442, + 590.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1573.1470801590908, + 588.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1570.5490039477374, + 587.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1567.950927736384, + 585.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1565.3528515250307, + 584.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1562.7547753136773, + 582.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1560.156699102324, + 581.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1557.5586228909706, + 579.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1554.9605466796172, + 578.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1552.3624704682638, + 576.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1549.7643942569105, + 575.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1547.166318045557, + 573.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1544.5682418342037, + 572.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1541.9701656228503, + 570.5279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1539.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1539.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1536.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1533.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1530.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1527.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1524.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1521.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1518.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1515.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1512.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1509.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1506.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1503.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1500.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1497.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1494.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1491.372089411497, + 569.0279884320752, + 34.398236184500504 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-13-48_717293418/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-13-48_717293418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00f9742838ab2ddce61707a5fe313f19ade5d746 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-13-48_717293418/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 391.3151377627244, + 1789.8744404297581, + 37.7863403065242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 392.8151377627244, + 1792.4725166411115, + 37.7863403065242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.3151377627244, + 1795.0705928524649, + 37.7863403065242 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 394.3151377627244, + 1795.0705928524649, + 37.7863403065242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 396.91321397407773, + 1796.5705928524649, + 37.7863403065242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.51129018543105, + 1798.0705928524649, + 37.7863403065242 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 472.0, + 1872.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-22-21_1926411641/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-22-21_1926411641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9c03579ace7727d8a9ded055f69067a3af560be --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-22-21_1926411641/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1013.6871139283076, + 858.9358384394875, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1015.1871139283076, + 861.5339146508409, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1016.6871139283076, + 864.1319908621942, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1018.1871139283076, + 866.7300670735476, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1019.6871139283076, + 869.328143284901, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1021.1871139283076, + 871.9262194962544, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1022.6871139283076, + 874.5242957076077, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1024.1871139283076, + 877.1223719189611, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1025.6871139283076, + 879.7204481303145, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1027.1871139283076, + 882.3185243416679, + 35.587828004478276 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1027.1871139283076, + 882.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1027.1871139283076, + 885.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1027.1871139283076, + 888.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1027.1871139283076, + 891.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1027.1871139283076, + 894.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1027.1871139283076, + 897.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1027.1871139283076, + 900.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1027.1871139283076, + 903.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1027.1871139283076, + 906.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1027.1871139283076, + 909.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1027.1871139283076, + 912.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1027.1871139283076, + 915.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1027.1871139283076, + 918.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1027.1871139283076, + 921.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1027.1871139283076, + 924.3185243416679, + 35.587828004478276 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1027.1871139283076, + 924.3185243416679, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1028.6871139283076, + 926.9166005530212, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1030.1871139283076, + 929.5146767643746, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1031.6871139283076, + 932.112752975728, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1033.1871139283076, + 934.7108291870813, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1034.6871139283076, + 937.3089053984347, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1036.1871139283076, + 939.9069816097881, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1037.6871139283076, + 942.5050578211415, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1039.1871139283076, + 945.1031340324948, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1040.6871139283076, + 947.7012102438482, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1042.1871139283076, + 950.2992864552016, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1043.6871139283076, + 952.897362666555, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1045.1871139283076, + 955.4954388779083, + 35.587828004478276 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1045.1871139283076, + 955.4954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1047.785190139661, + 956.9954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1050.3832663510143, + 958.4954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1052.9813425623677, + 959.9954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1055.579418773721, + 961.4954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1058.1774949850744, + 962.9954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1060.7755711964278, + 964.4954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1063.3736474077812, + 965.9954388779083, + 35.587828004478276 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1065.9717236191345, + 967.4954388779083, + 35.587828004478276 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1076.0, + 992.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-26-15_2021303708/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-26-15_2021303708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56a4e7437c9313d915ff3ce0be6c1f1661638fdc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-26-15_2021303708/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 797.2716618037502, + -1640.4741028818937, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 798.7716618037502, + -1643.072179093247, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 800.2716618037502, + -1645.6702553046005, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 801.7716618037502, + -1648.2683315159538, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.2716618037502, + -1650.8664077273072, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 804.7716618037502, + -1653.4644839386606, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 806.2716618037502, + -1656.062560150014, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 807.7716618037502, + -1658.6606363613673, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 809.2716618037502, + -1661.2587125727207, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.7716618037502, + -1663.856788784074, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 812.2716618037502, + -1666.4548649954274, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 813.7716618037502, + -1669.0529412067808, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.2716618037502, + -1671.6510174181342, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 816.7716618037502, + -1674.2490936294876, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 818.2716618037502, + -1676.847169840841, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 819.7716618037502, + -1679.4452460521943, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 821.2716618037502, + -1682.0433222635477, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 822.7716618037502, + -1684.641398474901, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 824.2716618037502, + -1687.2394746862544, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 825.7716618037502, + -1689.8375508976078, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 827.2716618037502, + -1692.4356271089612, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 828.7716618037502, + -1695.0337033203145, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 830.2716618037502, + -1697.631779531668, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 831.7716618037502, + -1700.2298557430213, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 833.2716618037502, + -1702.8279319543747, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 834.7716618037502, + -1705.426008165728, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 836.2716618037502, + -1708.0240843770814, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 837.7716618037502, + -1710.6221605884348, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 839.2716618037502, + -1713.2202367997882, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 840.7716618037502, + -1715.8183130111415, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 842.2716618037502, + -1718.416389222495, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 843.7716618037502, + -1721.0144654338483, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 845.2716618037502, + -1723.6125416452016, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 846.7716618037502, + -1726.210617856555, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 848.2716618037502, + -1728.8086940679084, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 849.7716618037502, + -1731.4067702792618, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 851.2716618037502, + -1734.0048464906151, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 852.7716618037502, + -1736.6029227019685, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 854.2716618037502, + -1739.2009989133219, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 855.7716618037502, + -1741.7990751246753, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 857.2716618037502, + -1744.3971513360286, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 858.7716618037502, + -1746.995227547382, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 860.2716618037502, + -1749.5933037587354, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 861.7716618037502, + -1752.1913799700887, + 35.279332871054095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 863.2716618037502, + -1754.7894561814421, + 35.279332871054095 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + -1768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-29-32_1374600938/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-29-32_1374600938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81b0d2c7b1e78ab650d35dc273c7b2733ea25f59 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-29-32_1374600938/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1612.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1609.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1606.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1603.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1600.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1597.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1594.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1591.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1588.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1585.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1582.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1579.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1576.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1573.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1570.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1567.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1564.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1561.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1558.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1555.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1552.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1549.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1549.23152475202, + -1489.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1546.6334485406667, + -1488.296129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1544.0353723293133, + -1486.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1541.43729611796, + -1485.296129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1538.8392199066066, + -1483.796129281964, + 38.76230204270036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1536.2411436952532, + -1482.296129281964, + 38.76230204270036 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-34-21_1403938270/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-34-21_1403938270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..764a161ac5aec4ad46d89b03190b1e2f45d246c5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-34-21_1403938270/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1536.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1533.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1530.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1527.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1524.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1521.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1518.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1515.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1512.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1509.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1506.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1503.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1503.1213485208439, + 432.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1500.5232723094905, + 433.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1497.9251960981371, + 435.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1495.3271198867837, + 436.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1492.7290436754304, + 438.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1490.130967464077, + 439.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1487.5328912527236, + 441.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1484.9348150413703, + 442.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1482.3367388300169, + 444.3072760742316, + 35.67544434082006 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1482.3367388300169, + 444.3072760742316, + 35.67544434082006 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1482.3367388300169, + 444.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1482.3367388300169, + 447.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1482.3367388300169, + 450.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1482.3367388300169, + 453.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1482.3367388300169, + 456.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1482.3367388300169, + 459.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1482.3367388300169, + 462.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1482.3367388300169, + 465.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1482.3367388300169, + 468.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1482.3367388300169, + 471.3072760742316, + 35.67544434082006 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1482.3367388300169, + 471.3072760742316, + 35.67544434082006 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1482.3367388300169, + 471.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1479.7386626186635, + 472.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1477.1405864073101, + 474.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1474.5425101959568, + 475.8072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1471.9444339846034, + 477.3072760742316, + 35.67544434082006 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1471.9444339846034, + 477.3072760742316, + 35.67544434082006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1470.4444339846034, + 479.9053522855849, + 35.67544434082006 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 496.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-46-19_16922351/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-46-19_16922351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f5d95cb1f23bb1cb88685c92b72f844a9681c67 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-46-19_16922351/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1200.2431428293164, + -1120.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1197.645066617963, + -1122.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1195.0469904066097, + -1123.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1192.4489141952563, + -1125.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1189.850837983903, + -1126.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1187.2527617725495, + -1128.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1184.6546855611962, + -1129.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1182.0566093498428, + -1131.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1179.4585331384894, + -1132.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1176.860456927136, + -1134.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1174.2623807157827, + -1135.829707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1171.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1171.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1168.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1165.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1162.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1159.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1156.6643045044293, + -1137.329707205606, + 35.291576001384485 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-51-2_67874133/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-51-2_67874133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc0625d61537ab535e20bf8a8a5c21f4b1fb15b3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-51-2_67874133/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.6995538899257, + 1402.387260911808, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -620.1995538899257, + 1404.9853371231613, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -618.6995538899257, + 1407.5834133345147, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -617.1995538899257, + 1410.181489545868, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -615.6995538899257, + 1412.7795657572215, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -614.1995538899257, + 1415.3776419685748, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -612.6995538899257, + 1417.9757181799282, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -611.1995538899257, + 1420.5737943912816, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -609.6995538899257, + 1423.171870602635, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -608.1995538899257, + 1425.7699468139883, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.6995538899257, + 1428.3680230253417, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -605.1995538899257, + 1430.966099236695, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -603.6995538899257, + 1433.5641754480484, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -602.1995538899257, + 1436.1622516594018, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -600.6995538899257, + 1438.7603278707552, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -599.1995538899257, + 1441.3584040821086, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -597.6995538899257, + 1443.956480293462, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -596.1995538899257, + 1446.5545565048153, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -594.6995538899257, + 1449.1526327161687, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -593.1995538899257, + 1451.750708927522, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -591.6995538899257, + 1454.3487851388754, + 31.34003442024986 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -591.6995538899257, + 1454.3487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -589.1014776785723, + 1455.8487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -586.503401467219, + 1457.3487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -583.9053252558656, + 1458.8487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -581.3072490445122, + 1460.3487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -578.7091728331588, + 1461.8487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -576.1110966218055, + 1463.3487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -573.5130204104521, + 1464.8487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -570.9149441990987, + 1466.3487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -568.3168679877454, + 1467.8487851388754, + 31.34003442024986 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -568.3168679877454, + 1467.8487851388754, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -566.8168679877454, + 1470.4468613502288, + 31.34003442024986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -565.3168679877454, + 1473.0449375615822, + 31.34003442024986 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -540.0, + 1504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-58-26_819485269/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-58-26_819485269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3b52f69029dfffd0baf9c81e0752e9aeb39b86d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-58-26_819485269/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1666.453051512714, + -1579.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1666.453051512714, + -1576.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1666.453051512714, + -1573.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1666.453051512714, + -1570.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1666.453051512714, + -1567.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1666.453051512714, + -1564.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1666.453051512714, + -1561.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1666.453051512714, + -1558.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1666.453051512714, + -1555.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1666.453051512714, + -1552.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1666.453051512714, + -1549.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1666.453051512714, + -1546.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1666.453051512714, + -1543.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1666.453051512714, + -1540.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1666.453051512714, + -1537.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1666.453051512714, + -1534.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1666.453051512714, + -1531.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1666.453051512714, + -1528.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1666.453051512714, + -1525.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1666.453051512714, + -1522.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1666.453051512714, + -1519.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1666.453051512714, + -1516.3954414755422, + 32.06026483737871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1666.453051512714, + -1516.3954414755422, + 32.06026483737871 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1666.453051512714, + -1516.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1669.0511277240673, + -1514.8954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1671.6492039354207, + -1513.3954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1674.247280146774, + -1511.8954414755422, + 32.06026483737871 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1674.247280146774, + -1511.8954414755422, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1675.747280146774, + -1509.2973652641888, + 32.06026483737871 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1677.247280146774, + -1506.6992890528354, + 32.06026483737871 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1684.0, + -1464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-9-57_1116945487/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-9-57_1116945487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afaf7e558d9435992d59cd791ae285a133359401 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_4-9-57_1116945487/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1116.1668496433354, + -131.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1113.568773431982, + -133.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1110.9706972206286, + -134.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1108.3726210092752, + -136.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1105.7745447979219, + -137.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1103.1764685865685, + -139.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1100.5783923752151, + -140.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1097.9803161638617, + -142.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1095.3822399525084, + -143.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1092.784163741155, + -145.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1090.1860875298016, + -146.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1087.5880113184483, + -148.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1084.9899351070949, + -149.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1082.3918588957415, + -151.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1079.7937826843881, + -152.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1077.1957064730348, + -154.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1074.5976302616814, + -155.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1071.999554050328, + -157.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1069.4014778389746, + -158.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1066.8034016276213, + -160.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1064.205325416268, + -161.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1061.6072492049145, + -163.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1059.0091729935612, + -164.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1056.4110967822078, + -166.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1053.8130205708544, + -167.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1051.214944359501, + -169.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1048.6168681481477, + -170.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1046.0187919367943, + -172.33865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1043.420715725441, + -173.83865557872522, + 35.38761469299928 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1043.420715725441, + -173.83865557872522, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1041.920715725441, + -176.43673179007854, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1040.420715725441, + -179.03480800143186, + 35.38761469299928 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1038.920715725441, + -181.63288421278517, + 35.38761469299928 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-25-1_312186354/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-25-1_312186354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3be6955d76521d972acac64ec9ca1cfa7a3b466b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-25-1_312186354/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1238.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1241.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1244.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1247.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1250.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1253.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1256.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1259.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1262.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1265.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1268.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1271.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1274.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1277.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1280.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1283.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1286.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1289.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1292.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1295.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1298.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1301.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1304.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1307.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1310.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1313.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1313.2563242662616, + 352.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1315.854400477615, + 354.02684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1318.4524766889683, + 355.52684246036773, + 31.860324024469517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1321.0505529003217, + 357.02684246036773, + 31.860324024469517 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-32-4_1435001171/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-32-4_1435001171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cef94a578397a62b91a2a7ec91e234248937f45e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-32-4_1435001171/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 915.3010663620553, + -1572.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 917.8991425734087, + -1570.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 920.497218784762, + -1569.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 923.0952949961154, + -1567.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 925.6933712074688, + -1566.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 928.2914474188221, + -1564.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 930.8895236301755, + -1563.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 933.4875998415289, + -1561.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 936.0856760528823, + -1560.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 938.6837522642356, + -1558.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 941.281828475589, + -1557.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 943.8799046869424, + -1555.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 946.4779808982958, + -1554.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 949.0760571096491, + -1552.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 951.6741333210025, + -1551.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 954.2722095323559, + -1549.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 956.8702857437092, + -1548.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 959.4683619550626, + -1546.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 962.066438166416, + -1545.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 964.6645143777694, + -1543.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 967.2625905891227, + -1542.2738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 969.8606668004761, + -1540.7738132312238, + 30.000095215647143 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 969.8606668004761, + -1540.7738132312238, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 971.3606668004761, + -1538.1757370198704, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 972.8606668004761, + -1535.577660808517, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 974.3606668004761, + -1532.9795845971637, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 975.8606668004761, + -1530.3815083858103, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 977.3606668004761, + -1527.783432174457, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 978.8606668004761, + -1525.1853559631036, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 980.3606668004761, + -1522.5872797517502, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 981.8606668004761, + -1519.9892035403968, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 983.3606668004761, + -1517.3911273290435, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 984.8606668004761, + -1514.79305111769, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 986.3606668004761, + -1512.1949749063367, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 987.8606668004761, + -1509.5968986949833, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 989.3606668004761, + -1506.99882248363, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 990.8606668004761, + -1504.4007462722766, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 992.3606668004761, + -1501.8026700609232, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 993.8606668004761, + -1499.2045938495698, + 30.000095215647143 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 995.3606668004761, + -1496.6065176382165, + 30.000095215647143 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1020.0, + -1472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-34-41_1175446571/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-34-41_1175446571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63633551d0ff86fe6b608e68654aa1a6a2bf28a2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-34-41_1175446571/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -708.756151675848, + -1285.1751381113297, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.256151675848, + -1287.773214322683, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -705.756151675848, + -1290.3712905340365, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -704.256151675848, + -1292.9693667453898, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -702.756151675848, + -1295.5674429567432, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -701.256151675848, + -1298.1655191680966, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.756151675848, + -1300.76359537945, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -698.256151675848, + -1303.3616715908033, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -696.756151675848, + -1305.9597478021567, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -695.256151675848, + -1308.55782401351, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -693.756151675848, + -1311.1559002248634, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -692.256151675848, + -1313.7539764362168, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -690.756151675848, + -1316.3520526475702, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -689.256151675848, + -1318.9501288589236, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.756151675848, + -1321.548205070277, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -686.256151675848, + -1324.1462812816303, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -684.756151675848, + -1326.7443574929837, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -683.256151675848, + -1329.342433704337, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.756151675848, + -1331.9405099156904, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -680.256151675848, + -1334.5385861270438, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.756151675848, + -1337.1366623383972, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.256151675848, + -1339.7347385497505, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -675.756151675848, + -1342.332814761104, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -674.256151675848, + -1344.9308909724573, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -672.756151675848, + -1347.5289671838107, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.256151675848, + -1350.127043395164, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -669.756151675848, + -1352.7251196065174, + 34.60038599779011 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -669.756151675848, + -1352.7251196065174, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -669.756151675848, + -1355.7251196065174, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -669.756151675848, + -1358.7251196065174, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -669.756151675848, + -1361.7251196065174, + 34.60038599779011 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -669.756151675848, + -1364.7251196065174, + 34.60038599779011 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -660.0, + -1384.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-7-46_933596911/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-7-46_933596911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..906791dc5d2d0299c0e58b064e0313da71673f07 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_5-7-46_933596911/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.0153221581206, + -974.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -791.613398369474, + -975.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -794.2114745808274, + -977.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -796.8095507921807, + -978.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.4076270035341, + -980.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -802.0057032148875, + -981.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.6037794262409, + -983.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.2018556375942, + -984.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -809.7999318489476, + -986.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -812.398008060301, + -987.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -814.9960842716544, + -989.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -817.5941604830077, + -990.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -820.1922366943611, + -992.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -822.7903129057145, + -993.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -825.3883891170678, + -995.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -827.9864653284212, + -996.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -830.5845415397746, + -998.2240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -833.182617751128, + -999.7240932551399, + 31.53733664565466 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -833.182617751128, + -999.7240932551399, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -834.682617751128, + -1002.3221694664933, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -836.182617751128, + -1004.9202456778467, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -837.682617751128, + -1007.5183218892, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -839.182617751128, + -1010.1163981005534, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -840.682617751128, + -1012.7144743119068, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -842.182617751128, + -1015.3125505232601, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -843.682617751128, + -1017.9106267346135, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -845.182617751128, + -1020.5087029459669, + 31.53733664565466 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -845.182617751128, + -1020.5087029459669, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -845.182617751128, + -1023.5087029459669, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -845.182617751128, + -1026.508702945967, + 31.53733664565466 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -845.182617751128, + -1026.508702945967, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -846.682617751128, + -1029.1067791573203, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.182617751128, + -1031.7048553686736, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -849.682617751128, + -1034.302931580027, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -851.182617751128, + -1036.9010077913804, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -852.682617751128, + -1039.4990840027338, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -854.182617751128, + -1042.0971602140871, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -855.682617751128, + -1044.6952364254405, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -857.182617751128, + -1047.2933126367939, + 31.53733664565466 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -857.182617751128, + -1047.2933126367939, + 31.53733664565466 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -859.7806939624813, + -1048.7933126367939, + 31.53733664565466 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -888.0, + -1076.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-14-26_1848096107/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-14-26_1848096107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f73d98553c7c8d3707bbbd7f19b2f294ba8f3203 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-14-26_1848096107/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1651.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1654.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1657.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1660.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1663.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1666.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1669.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1672.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1675.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1678.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1681.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1684.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1684.2677936807609, + -674.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1686.8658698921142, + -675.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1689.4639461034676, + -677.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1692.062022314821, + -678.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1694.6600985261744, + -680.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1697.2581747375277, + -681.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1699.856250948881, + -683.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1702.4543271602345, + -684.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1705.0524033715878, + -686.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1707.6504795829412, + -687.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1710.2485557942946, + -689.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1712.846632005648, + -690.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1715.4447082170013, + -692.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1718.0427844283547, + -693.6160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1720.640860639708, + -695.1160771765398, + 33.249682155473586 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1720.640860639708, + -695.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1723.640860639708, + -695.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1726.640860639708, + -695.1160771765398, + 33.249682155473586 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1729.640860639708, + -695.1160771765398, + 33.249682155473586 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1752.0, + -700.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-15-11_1091714937/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-15-11_1091714937/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77e2c2104978f4eabb0f262d4162182749423fff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-15-11_1091714937/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 855.9360802782821, + 1699.5230395729368, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 857.4360802782821, + 1702.1211157842902, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 858.9360802782821, + 1704.7191919956435, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 860.4360802782821, + 1707.317268206997, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 861.9360802782821, + 1709.9153444183503, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 863.4360802782821, + 1712.5134206297037, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 864.9360802782821, + 1715.111496841057, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 866.4360802782821, + 1717.7095730524104, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 867.9360802782821, + 1720.3076492637638, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 869.4360802782821, + 1722.9057254751172, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 870.9360802782821, + 1725.5038016864705, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 872.4360802782821, + 1728.101877897824, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 873.9360802782821, + 1730.6999541091773, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 875.4360802782821, + 1733.2980303205306, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 876.9360802782821, + 1735.896106531884, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 878.4360802782821, + 1738.4941827432374, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 879.9360802782821, + 1741.0922589545908, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 881.4360802782821, + 1743.6903351659441, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 882.9360802782821, + 1746.2884113772975, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 884.4360802782821, + 1748.8864875886509, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 885.9360802782821, + 1751.4845638000043, + 34.78594570115949 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 885.9360802782821, + 1751.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 885.9360802782821, + 1754.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 885.9360802782821, + 1757.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 885.9360802782821, + 1760.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 885.9360802782821, + 1763.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 885.9360802782821, + 1766.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 885.9360802782821, + 1769.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 885.9360802782821, + 1772.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 885.9360802782821, + 1775.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 885.9360802782821, + 1778.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 885.9360802782821, + 1781.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 885.9360802782821, + 1784.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 885.9360802782821, + 1787.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 885.9360802782821, + 1790.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 885.9360802782821, + 1793.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 885.9360802782821, + 1796.4845638000043, + 34.78594570115949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 885.9360802782821, + 1799.4845638000043, + 34.78594570115949 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + 1840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-34-48_753959819/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-34-48_753959819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..248206159c2586b6d2d809906500174ce01eb388 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-34-48_753959819/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 920.7537805075285, + -16.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 920.7537805075285, + -19.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 920.7537805075285, + -22.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 920.7537805075285, + -25.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 920.7537805075285, + -28.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 920.7537805075285, + -31.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 920.7537805075285, + -34.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 920.7537805075285, + -37.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 920.7537805075285, + -40.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 920.7537805075285, + -43.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 920.7537805075285, + -46.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 920.7537805075285, + -49.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 920.7537805075285, + -52.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 920.7537805075285, + -55.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 920.7537805075285, + -58.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 920.7537805075285, + -61.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 920.7537805075285, + -64.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 920.7537805075285, + -67.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 920.7537805075285, + -70.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 920.7537805075285, + -73.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 920.7537805075285, + -76.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 920.7537805075285, + -79.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 920.7537805075285, + -82.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 920.7537805075285, + -85.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 920.7537805075285, + -88.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 920.7537805075285, + -91.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 920.7537805075285, + -94.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 920.7537805075285, + -97.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 920.7537805075285, + -100.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 920.7537805075285, + -103.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 920.7537805075285, + -106.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 920.7537805075285, + -109.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 920.7537805075285, + -112.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 920.7537805075285, + -115.34685016012685, + 30.91039245442264 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 920.7537805075285, + -115.34685016012685, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 919.2537805075285, + -117.94492637148016, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 917.7537805075285, + -120.54300258283348, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 916.2537805075285, + -123.1410787941868, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 914.7537805075285, + -125.73915500554011, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 913.2537805075285, + -128.33723121689343, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 911.7537805075285, + -130.93530742824674, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 910.2537805075285, + -133.53338363960006, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 908.7537805075285, + -136.13145985095338, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 907.2537805075285, + -138.7295360623067, + 30.91039245442264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 905.7537805075285, + -141.32761227366, + 30.91039245442264 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 904.0, + -160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-48-31_1559382853/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-48-31_1559382853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82408790b094725a31807a0068758327e2550774 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-48-31_1559382853/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 540.7939736342637, + -221.94737662534243, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 542.2939736342637, + -224.54545283669574, + 36.25619481156441 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 542.2939736342637, + -224.54545283669574, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 544.8920498456171, + -226.04545283669574, + 36.25619481156441 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 544.8920498456171, + -226.04545283669574, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 546.3920498456171, + -228.64352904804906, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 547.8920498456171, + -231.24160525940238, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 549.3920498456171, + -233.8396814707557, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 550.8920498456171, + -236.437757682109, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 552.3920498456171, + -239.03583389346232, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 553.8920498456171, + -241.63391010481564, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 555.3920498456171, + -244.23198631616896, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 556.8920498456171, + -246.83006252752227, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 558.3920498456171, + -249.4281387388756, + 36.25619481156441 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 558.3920498456171, + -249.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 558.3920498456171, + -252.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 558.3920498456171, + -255.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 558.3920498456171, + -258.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 558.3920498456171, + -261.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 558.3920498456171, + -264.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 558.3920498456171, + -267.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 558.3920498456171, + -270.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 558.3920498456171, + -273.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 558.3920498456171, + -276.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 558.3920498456171, + -279.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 558.3920498456171, + -282.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 558.3920498456171, + -285.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 558.3920498456171, + -288.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 558.3920498456171, + -291.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 558.3920498456171, + -294.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 558.3920498456171, + -297.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 558.3920498456171, + -300.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 558.3920498456171, + -303.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 558.3920498456171, + -306.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 558.3920498456171, + -309.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 558.3920498456171, + -312.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 558.3920498456171, + -315.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 558.3920498456171, + -318.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 558.3920498456171, + -321.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 558.3920498456171, + -324.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 558.3920498456171, + -327.4281387388756, + 36.25619481156441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 558.3920498456171, + -330.4281387388756, + 36.25619481156441 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + -352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-49-30_1010764797/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-49-30_1010764797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab28cff340d826317099997691cf213726800fe4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_6-49-30_1010764797/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 306.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 309.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 315.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 318.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 321.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 324.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 327.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 330.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 333.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 336.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 339.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 342.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 351.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 354.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 357.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 360.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 363.4087219137641, + -736.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 366.0067981251174, + -734.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 368.60487433647074, + -733.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 371.20295054782406, + -731.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 373.8010267591774, + -730.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 376.3991029705307, + -728.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 378.997179181884, + -727.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 381.5952553932373, + -725.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 384.19333160459064, + -724.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 386.79140781594396, + -722.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 389.38948402729727, + -721.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 391.9875602386506, + -719.7257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 394.5856364500039, + -718.2257393021304, + 36.91030181823298 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 397.1837126613572, + -716.7257393021304, + 36.91030181823298 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 416.0, + -712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-20-3_212295100/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-20-3_212295100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91cd48b2d992ab1d7275d8cae95335ce1484a958 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-20-3_212295100/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.85853008663243, + 774.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 52.26045387527911, + 773.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.662377663925795, + 771.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.06430145257248, + 770.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 44.46622524121916, + 768.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 41.86814902986585, + 767.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 39.27007281851253, + 765.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.671996607159215, + 764.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.0739203958059, + 762.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 31.475844184452583, + 761.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.877767973099267, + 759.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 26.27969176174595, + 758.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 23.681615550392635, + 756.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.08353933903932, + 755.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 18.485463127686003, + 753.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 15.887386916332687, + 752.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 13.289310704979371, + 750.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.691234493626055, + 749.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.09315828227274, + 747.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 5.495082070919423, + 746.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2.8970058595661072, + 744.700637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 0.2989296482127912, + 743.200637051745, + 34.33927334313539 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 0.2989296482127912, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.701070351787209, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -5.701070351787209, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -8.701070351787209, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -11.701070351787209, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -14.701070351787209, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -17.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -20.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -26.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -29.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -32.70107035178721, + 743.200637051745, + 34.33927334313539 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-23-20_263043320/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-23-20_263043320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..993e8c507b3845009133a093894d5e26720f48db --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-23-20_263043320/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1263.1368344772204, + 434.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1265.7349106885738, + 436.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1268.3329868999272, + 437.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1270.9310631112805, + 439.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1273.529139322634, + 440.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1276.1272155339873, + 442.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1278.7252917453407, + 443.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1281.323367956694, + 445.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1283.9214441680474, + 446.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1286.5195203794008, + 448.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1289.1175965907541, + 449.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1291.7156728021075, + 451.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1294.313749013461, + 452.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1296.9118252248143, + 454.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1299.5099014361676, + 455.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1302.107977647521, + 457.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1304.7060538588744, + 458.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1307.3041300702278, + 460.37201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1309.9022062815811, + 461.87201201391565, + 31.16468115502275 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1309.9022062815811, + 461.87201201391565, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1311.4022062815811, + 464.47008822526897, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1312.9022062815811, + 467.0681644366223, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1314.4022062815811, + 469.6662406479756, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1315.9022062815811, + 472.2643168593289, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1317.4022062815811, + 474.86239307068223, + 31.16468115502275 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1318.9022062815811, + 477.46046928203555, + 31.16468115502275 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1372.0, + 516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-31-27_1143849810/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-31-27_1143849810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64eaac2f3008b3522389a07f50d5f0321d3e5478 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-31-27_1143849810/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 354.6907962944574, + -80.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.0927200831041, + -81.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 349.4946438717508, + -83.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 346.89656766039747, + -84.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 344.29849144904415, + -86.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 341.70041523769083, + -87.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 339.1023390263375, + -89.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 336.5042628149842, + -90.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 333.9061866036309, + -92.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 331.30811039227757, + -93.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 328.71003418092425, + -95.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.11195796957094, + -96.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.5138817582176, + -98.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 320.9158055468643, + -99.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 318.317729335511, + -101.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 315.7196531241577, + -102.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 313.12157691280436, + -104.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.52350070145104, + -105.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.9254244900977, + -107.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 305.3273482787444, + -108.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 302.7292720673911, + -110.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 300.1311958560378, + -111.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.53311964468446, + -113.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.93504343333115, + -114.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 292.33696722197783, + -116.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 289.7388910106245, + -117.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 287.1408147992712, + -119.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 284.5427385879179, + -120.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 281.94466237656457, + -122.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 279.34658616521125, + -123.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 276.74850995385793, + -125.3291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 274.1504337425046, + -126.8291365012653, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 271.5523575311513, + -128.32913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 268.954281319798, + -129.82913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 266.35620510844467, + -131.32913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.75812889709135, + -132.82913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 261.16005268573804, + -134.32913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 258.5619764743847, + -135.82913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 255.9639002630314, + -137.32913650126528, + 36.593801828318405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 253.3658240516781, + -138.82913650126528, + 36.593801828318405 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + -152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-40-48_6938620/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-40-48_6938620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c1c06777004e3df8a82aaea12716de9db80d0df --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-40-48_6938620/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 997.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 994.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 991.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 988.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 985.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 982.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 979.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 976.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 973.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 970.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 967.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 964.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 961.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 958.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 955.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 952.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 952.983013139209, + 819.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 950.3849369278557, + 821.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 947.7868607165024, + 822.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 945.188784505149, + 824.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 942.5907082937956, + 825.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 939.9926320824422, + 827.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 937.3945558710889, + 828.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 934.7964796597355, + 830.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 932.1984034483821, + 831.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 929.6003272370288, + 833.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 927.0022510256754, + 834.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 924.404174814322, + 836.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 921.8060986029686, + 837.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 919.2080223916153, + 839.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 916.6099461802619, + 840.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 914.0118699689085, + 842.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 911.4137937575551, + 843.5926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 908.8157175462018, + 845.0926763915344, + 36.40015093662629 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 906.2176413348484, + 846.5926763915344, + 36.40015093662629 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-47-1_1891066487/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-47-1_1891066487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68b183298cd227cac0498a0a699945dddc4d887a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-47-1_1891066487/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1735.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1738.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1741.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1744.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1747.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1750.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1753.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1756.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1759.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1762.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1765.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1765.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1765.717694887872, + 806.405147879161, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1767.217694887872, + 809.0032240905143, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1768.717694887872, + 811.6013003018677, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1770.217694887872, + 814.1993765132211, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1771.717694887872, + 816.7974527245744, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1773.217694887872, + 819.3955289359278, + 31.902894762687954 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1773.217694887872, + 819.3955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1775.8157710992255, + 820.8955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1778.4138473105788, + 822.3955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1781.0119235219322, + 823.8955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1783.6099997332856, + 825.3955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1786.208075944639, + 826.8955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1788.8061521559923, + 828.3955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1791.4042283673457, + 829.8955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1794.002304578699, + 831.3955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1796.6003807900524, + 832.8955289359278, + 31.902894762687954 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1799.1984570014058, + 834.3955289359278, + 31.902894762687954 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-53-9_1245466382/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-53-9_1245466382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b56ad43debb768261cf6fa1ae9e4aa7bdc31fc3a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-53-9_1245466382/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1117.6386641849217, + -868.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1117.6386641849217, + -871.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1117.6386641849217, + -874.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1117.6386641849217, + -877.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1117.6386641849217, + -880.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1117.6386641849217, + -883.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1117.6386641849217, + -886.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1117.6386641849217, + -889.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1117.6386641849217, + -892.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1117.6386641849217, + -895.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1117.6386641849217, + -898.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1117.6386641849217, + -901.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1117.6386641849217, + -904.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1117.6386641849217, + -907.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1117.6386641849217, + -910.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1117.6386641849217, + -913.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1117.6386641849217, + -916.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1117.6386641849217, + -919.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1117.6386641849217, + -922.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1117.6386641849217, + -925.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1117.6386641849217, + -928.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1117.6386641849217, + -931.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1117.6386641849217, + -934.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1117.6386641849217, + -937.5704819247048, + 33.496342686514026 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1117.6386641849217, + -937.5704819247048, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1116.1386641849217, + -940.1685581360582, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1114.6386641849217, + -942.7666343474116, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1113.1386641849217, + -945.364710558765, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1111.6386641849217, + -947.9627867701183, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1110.1386641849217, + -950.5608629814717, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1108.6386641849217, + -953.1589391928251, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1107.1386641849217, + -955.7570154041784, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1105.6386641849217, + -958.3550916155318, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1104.1386641849217, + -960.9531678268852, + 33.496342686514026 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1104.1386641849217, + -960.9531678268852, + 33.496342686514026 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1104.1386641849217, + -963.9531678268852, + 33.496342686514026 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-9-6_808808585/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-9-6_808808585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..273f7c1e2e4b119763208f33ad1b5eafe831b5db --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_7-9-6_808808585/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 667.2110602432905, + 269.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 667.2110602432905, + 266.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 667.2110602432905, + 263.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 667.2110602432905, + 260.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 667.2110602432905, + 257.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 667.2110602432905, + 254.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 667.2110602432905, + 251.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 667.2110602432905, + 248.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 667.2110602432905, + 245.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 667.2110602432905, + 242.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 667.2110602432905, + 239.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 667.2110602432905, + 236.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 667.2110602432905, + 233.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 667.2110602432905, + 230.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 667.2110602432905, + 227.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 667.2110602432905, + 224.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 667.2110602432905, + 221.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 667.2110602432905, + 218.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 667.2110602432905, + 215.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 667.2110602432905, + 212.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 667.2110602432905, + 209.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 667.2110602432905, + 206.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 667.2110602432905, + 203.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 667.2110602432905, + 200.24118575157445, + 32.686519031620975 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 667.2110602432905, + 197.24118575157445, + 32.686519031620975 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-1-16_2115115464/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-1-16_2115115464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af40bebeba67ca80ecaa3a4fea9d70a41c6a77e1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-1-16_2115115464/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1103.2207173875067, + -915.1017670988276, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1104.7207173875067, + -912.5036908874742, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1106.2207173875067, + -909.9056146761209, + 38.76863236235373 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1106.2207173875067, + -909.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1106.2207173875067, + -906.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1106.2207173875067, + -903.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1106.2207173875067, + -900.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1106.2207173875067, + -897.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1106.2207173875067, + -894.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1106.2207173875067, + -891.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1106.2207173875067, + -888.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1106.2207173875067, + -885.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1106.2207173875067, + -882.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1106.2207173875067, + -879.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1106.2207173875067, + -876.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1106.2207173875067, + -873.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1106.2207173875067, + -870.9056146761209, + 38.76863236235373 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1106.2207173875067, + -870.9056146761209, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1104.7207173875067, + -868.3075384647675, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1103.2207173875067, + -865.7094622534141, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1101.7207173875067, + -863.1113860420608, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1100.2207173875067, + -860.5133098307074, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1098.7207173875067, + -857.915233619354, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1097.2207173875067, + -855.3171574080006, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1095.7207173875067, + -852.7190811966473, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1094.2207173875067, + -850.1210049852939, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1092.7207173875067, + -847.5229287739405, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1091.2207173875067, + -844.9248525625871, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1089.7207173875067, + -842.3267763512338, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1088.2207173875067, + -839.7287001398804, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1086.7207173875067, + -837.130623928527, + 38.76863236235373 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1086.7207173875067, + -837.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1084.1226411761534, + -835.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1081.5245649648, + -834.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1078.9264887534466, + -832.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1076.3284125420932, + -831.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1073.7303363307399, + -829.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1071.1322601193865, + -828.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1068.5341839080331, + -826.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1065.9361076966798, + -825.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1063.3380314853264, + -823.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1060.739955273973, + -822.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1058.1418790626196, + -820.630623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1055.5438028512663, + -819.130623928527, + 38.76863236235373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1052.945726639913, + -817.630623928527, + 38.76863236235373 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-34-54_1456139563/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-34-54_1456139563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76c8c3e7284eeb84e90130aefdf3d82c2f91b2e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-34-54_1456139563/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -143.3691745760375, + 811.5101362406876, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.8691745760375, + 808.9120600293343, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -140.3691745760375, + 806.3139838179809, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -138.8691745760375, + 803.7159076066275, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -137.3691745760375, + 801.1178313952742, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -135.8691745760375, + 798.5197551839208, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.3691745760375, + 795.9216789725674, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -132.8691745760375, + 793.323602761214, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -131.3691745760375, + 790.7255265498607, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.8691745760375, + 788.1274503385073, + 35.87005651054221 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.8691745760375, + 788.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -127.27109836468418, + 786.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -124.67302215333086, + 785.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -122.07494594197755, + 783.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -119.47686973062423, + 782.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -116.87879351927091, + 780.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.2807173079176, + 779.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -111.68264109656428, + 777.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -109.08456488521097, + 776.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -106.48648867385765, + 774.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -103.88841246250433, + 773.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.29033625115102, + 771.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -98.6922600397977, + 770.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -96.09418382844439, + 768.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.49610761709107, + 767.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -90.89803140573775, + 765.6274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -88.29995519438444, + 764.1274503385073, + 35.87005651054221 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -88.29995519438444, + 764.1274503385073, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -86.79995519438444, + 761.5293741271539, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -85.29995519438444, + 758.9312979158005, + 35.87005651054221 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -83.79995519438444, + 756.3332217044472, + 35.87005651054221 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-45-58_1815754673/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-45-58_1815754673/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1549378f81a95a0060dd15b2244f5f643ed830de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-45-58_1815754673/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1684.0853282260573, + -644.9300777644513, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1685.5853282260573, + -642.332001553098, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1687.0853282260573, + -639.7339253417447, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1688.5853282260573, + -637.1358491303913, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1690.0853282260573, + -634.5377729190379, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1691.5853282260573, + -631.9396967076846, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1693.0853282260573, + -629.3416204963312, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1694.5853282260573, + -626.7435442849778, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1696.0853282260573, + -624.1454680736244, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1697.5853282260573, + -621.5473918622711, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1699.0853282260573, + -618.9493156509177, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1700.5853282260573, + -616.3512394395643, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1702.0853282260573, + -613.753163228211, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1703.5853282260573, + -611.1550870168576, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1705.0853282260573, + -608.5570108055042, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1706.5853282260573, + -605.9589345941508, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1708.0853282260573, + -603.3608583827975, + 38.724277250173074 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1708.0853282260573, + -603.3608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1710.6834044374107, + -601.8608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1713.281480648764, + -600.3608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1715.8795568601174, + -598.8608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1718.4776330714708, + -597.3608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1721.0757092828242, + -595.8608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1723.6737854941775, + -594.3608583827975, + 38.724277250173074 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1723.6737854941775, + -594.3608583827975, + 38.724277250173074 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1725.1737854941775, + -591.7627821714441, + 38.724277250173074 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + -560.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-48-10_1815983044/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-48-10_1815983044/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf7cc0fdd10c47a10d69c946a32fb772d5161110 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-48-10_1815983044/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1093.2559413682552, + -585.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1090.6578651569018, + -583.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1088.0597889455485, + -582.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1085.461712734195, + -580.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1082.8636365228417, + -579.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1080.2655603114883, + -577.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1077.667484100135, + -576.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1075.0694078887816, + -574.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1072.4713316774282, + -573.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1069.8732554660749, + -571.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1067.2751792547215, + -570.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1064.677103043368, + -568.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1062.0790268320147, + -567.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1059.4809506206614, + -565.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1056.882874409308, + -564.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1054.2847981979546, + -562.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1051.6867219866012, + -561.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1049.0886457752479, + -559.993510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1046.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1046.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1043.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1040.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1037.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1034.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1031.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1028.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1025.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1022.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1019.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1016.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1016.4905695638945, + -558.493510418899, + 31.924763205028597 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1013.8924933525411, + -556.993510418899, + 31.924763205028597 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 972.0, + -540.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-54-3_215341973/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-54-3_215341973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acfb5dfa9dad24d7efa601c771b20f53c06cb5d8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_8-54-3_215341973/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1578.7266191679632, + -64.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1581.3246953793166, + -63.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1583.92277159067, + -61.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1586.5208478020234, + -60.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1589.1189240133767, + -58.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1591.71700022473, + -57.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1594.3150764360835, + -55.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1596.9131526474368, + -54.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1599.5112288587902, + -52.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1602.1093050701436, + -51.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1604.707381281497, + -49.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1607.3054574928503, + -48.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1609.9035337042037, + -46.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1612.501609915557, + -45.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1615.0996861269105, + -43.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1617.6977623382638, + -42.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1620.2958385496172, + -40.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1622.8939147609706, + -39.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1625.491990972324, + -37.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1628.0900671836773, + -36.3904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1630.6881433950307, + -34.8904356162748, + 31.231004839898745 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1630.6881433950307, + -34.8904356162748, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1632.1881433950307, + -32.292359404921484, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1633.6881433950307, + -29.694283193568168, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1635.1881433950307, + -27.096206982214852, + 31.231004839898745 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1636.6881433950307, + -24.498130770861536, + 31.231004839898745 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1680.0, + 8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-11-31_1182176620/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-11-31_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d955a59c77955cced3df5021431e65e34897a8f9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-11-31_1182176620/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1221.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1224.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1227.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1230.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1233.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1236.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1239.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1242.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1245.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1248.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1251.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1254.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1257.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1260.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1263.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1266.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1269.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1272.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1275.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1278.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1281.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1281.5516093727301, + 332.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1284.1496855840835, + 333.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1286.7477617954369, + 335.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1289.3458380067902, + 336.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1291.9439142181436, + 338.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1294.541990429497, + 339.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1297.1400666408504, + 341.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1299.7381428522037, + 342.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1302.336219063557, + 344.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1304.9342952749105, + 345.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1307.5323714862639, + 347.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1310.1304476976172, + 348.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1312.7285239089706, + 350.03852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1315.326600120324, + 351.53852520690907, + 32.19951474549869 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1315.326600120324, + 351.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1318.326600120324, + 351.53852520690907, + 32.19951474549869 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1321.326600120324, + 351.53852520690907, + 32.19951474549869 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-17-33_897534569/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-17-33_897534569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b765d4ea702b41bc83ad83066b332cedc2ec94c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-17-33_897534569/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1656.2319971206823, + 1524.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1656.2319971206823, + 1527.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1656.2319971206823, + 1530.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1656.2319971206823, + 1533.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1656.2319971206823, + 1536.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1656.2319971206823, + 1539.5865588831427, + 36.51178862245396 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1656.2319971206823, + 1539.5865588831427, + 36.51178862245396 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1656.2319971206823, + 1539.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1653.633920909329, + 1541.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1651.0358446979756, + 1542.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1648.4377684866222, + 1544.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1645.8396922752688, + 1545.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1643.2416160639154, + 1547.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1640.643539852562, + 1548.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1638.0454636412087, + 1550.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1635.4473874298553, + 1551.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1632.849311218502, + 1553.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1630.2512350071486, + 1554.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1627.6531587957952, + 1556.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1625.0550825844418, + 1557.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1622.4570063730885, + 1559.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1619.858930161735, + 1560.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1617.2608539503817, + 1562.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1614.6627777390283, + 1563.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1612.064701527675, + 1565.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1609.4666253163216, + 1566.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1606.8685491049682, + 1568.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1604.2704728936149, + 1569.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1601.6723966822615, + 1571.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1599.074320470908, + 1572.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1596.4762442595547, + 1574.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1593.8781680482014, + 1575.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1591.280091836848, + 1577.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1588.6820156254946, + 1578.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1586.0839394141412, + 1580.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1583.4858632027879, + 1581.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1580.8877869914345, + 1583.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1578.2897107800811, + 1584.5865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1575.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1575.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1572.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1569.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1566.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1563.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1560.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1557.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1554.6916345687277, + 1586.0865588831427, + 36.51178862245396 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1596.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-33-54_346502533/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-33-54_346502533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d11f6d18b9cfa099fbc09acebaa43a19f33cf85b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-33-54_346502533/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1319.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1316.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1313.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1310.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1307.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1304.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1301.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1298.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1295.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1295.7643451039705, + -1000.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1293.1662688926172, + -999.1700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1290.5681926812638, + -997.6700065215663, + 31.6901177216797 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1290.5681926812638, + -997.6700065215663, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1289.0681926812638, + -995.071930310213, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1287.5681926812638, + -992.4738540988596, + 31.6901177216797 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1287.5681926812638, + -992.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1284.9701164699104, + -990.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1282.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1282.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1279.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1276.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1273.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1270.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1267.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1264.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1261.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1261.372040258557, + -989.4738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1258.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1258.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1255.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1252.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1249.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1246.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1243.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1240.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1237.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1234.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1231.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1228.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1225.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1222.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1219.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1216.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1213.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1210.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1207.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1204.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1201.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1198.7739640472037, + -987.9738540988596, + 31.6901177216797 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1172.0, + -984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-43-4_699045063/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-43-4_699045063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e74c2d58ba9f86902badd28442d36733ae500577 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-43-4_699045063/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 907.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 910.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 913.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 916.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 919.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 922.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 925.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 928.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 931.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 934.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 937.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 940.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 943.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 943.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 943.8780191419498, + 1061.939526154947, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 945.3780191419498, + 1064.5376023663005, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 946.8780191419498, + 1067.1356785776538, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 948.3780191419498, + 1069.7337547890072, + 30.701752810240023 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 948.3780191419498, + 1069.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 950.9760953533032, + 1071.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 953.5741715646566, + 1072.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 956.17224777601, + 1074.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 958.7703239873633, + 1075.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 961.3684001987167, + 1077.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 963.9664764100701, + 1078.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 966.5645526214234, + 1080.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 969.1626288327768, + 1081.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 971.7607050441302, + 1083.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 974.3587812554836, + 1084.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 976.9568574668369, + 1086.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 979.5549336781903, + 1087.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 982.1530098895437, + 1089.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 984.751086100897, + 1090.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 987.3491623122504, + 1092.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 989.9472385236038, + 1093.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 992.5453147349572, + 1095.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 995.1433909463105, + 1096.7337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 997.7414671576639, + 1098.2337547890072, + 30.701752810240023 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 997.7414671576639, + 1098.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1000.7414671576639, + 1098.2337547890072, + 30.701752810240023 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1003.7414671576639, + 1098.2337547890072, + 30.701752810240023 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1024.0, + 1104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-47-15_1166437685/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-47-15_1166437685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f526e4c7395f60601d5ea987628ff116b3f7e2e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-47-15_1166437685/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1729.3972623966836, + -1073.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1731.995338608037, + -1074.8825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1734.5934148193903, + -1076.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1737.1914910307437, + -1077.8825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1739.789567242097, + -1079.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1742.3876434534504, + -1080.8825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1744.9857196648038, + -1082.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1747.5837958761572, + -1083.8825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1750.1818720875106, + -1085.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1752.779948298864, + -1086.8825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1755.3780245102173, + -1088.3825663055345, + 33.872464086274675 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1755.3780245102173, + -1088.3825663055345, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1756.8780245102173, + -1090.9806425168879, + 33.872464086274675 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1756.8780245102173, + -1090.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1759.4761007215707, + -1092.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1762.074176932924, + -1093.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1764.6722531442774, + -1095.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1767.2703293556308, + -1096.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1769.8684055669842, + -1098.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1772.4664817783375, + -1099.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1775.064557989691, + -1101.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1777.6626342010443, + -1102.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1780.2607104123977, + -1104.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1782.858786623751, + -1105.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1785.4568628351044, + -1107.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1788.0549390464578, + -1108.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1790.6530152578111, + -1110.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1793.2510914691645, + -1111.9806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1795.849167680518, + -1113.4806425168879, + 33.872464086274675 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1795.849167680518, + -1113.4806425168879, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1797.349167680518, + -1116.0787187282413, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1798.849167680518, + -1118.6767949395946, + 33.872464086274675 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1800.349167680518, + -1121.274871150948, + 33.872464086274675 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1836.0, + -1148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-54-24_2042830296/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-54-24_2042830296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89a898bc6834490a9289ab72acef533d9372278f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-54-24_2042830296/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1494.5718184160407, + 420.4969018106091, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1493.0718184160407, + 423.0949780219624, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1491.5718184160407, + 425.6930542333157, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1490.0718184160407, + 428.291130444669, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.5718184160407, + 430.88920665602234, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1487.0718184160407, + 433.48728286737565, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.5718184160407, + 436.08535907872897, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1484.0718184160407, + 438.6834352900823, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1482.5718184160407, + 441.2815115014356, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1481.0718184160407, + 443.8795877127889, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1479.5718184160407, + 446.47766392414223, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1478.0718184160407, + 449.07574013549555, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1476.5718184160407, + 451.67381634684887, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1475.0718184160407, + 454.2718925582022, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1473.5718184160407, + 456.8699687695555, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1472.0718184160407, + 459.4680449809088, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1470.5718184160407, + 462.06612119226213, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1469.0718184160407, + 464.66419740361545, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1467.5718184160407, + 467.26227361496876, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1466.0718184160407, + 469.8603498263221, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1464.5718184160407, + 472.4584260376754, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1463.0718184160407, + 475.0565022490287, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1461.5718184160407, + 477.654578460382, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1460.0718184160407, + 480.25265467173534, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1458.5718184160407, + 482.85073088308866, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1457.0718184160407, + 485.448807094442, + 32.024817552450045 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1457.0718184160407, + 485.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1457.0718184160407, + 488.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1457.0718184160407, + 491.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1457.0718184160407, + 494.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1457.0718184160407, + 497.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1457.0718184160407, + 500.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1457.0718184160407, + 503.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1457.0718184160407, + 506.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1457.0718184160407, + 509.448807094442, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1457.0718184160407, + 512.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1457.0718184160407, + 515.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1457.0718184160407, + 518.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1457.0718184160407, + 521.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1457.0718184160407, + 524.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1457.0718184160407, + 527.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1457.0718184160407, + 530.4488070944419, + 32.024817552450045 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1457.0718184160407, + 533.4488070944419, + 32.024817552450045 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-58-18_1335077589/pose.jsonl b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-58-18_1335077589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4b990757546925cb1643d181d5b0bc48428bbb5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_average/2025-1-2_9-58-18_1335077589/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1588.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1591.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1594.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1597.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1600.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1603.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1606.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1609.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1612.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1615.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1618.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1621.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1624.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1627.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1630.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1633.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1636.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1639.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1642.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1642.2214969886052, + 1770.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1644.8195731999585, + 1771.9782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1647.417649411312, + 1773.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1650.0157256226653, + 1774.9782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1652.6138018340187, + 1776.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1655.211878045372, + 1777.9782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1657.8099542567254, + 1779.4782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1660.4080304680788, + 1780.9782333731034, + 39.719718652975445 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1663.0061066794322, + 1782.4782333731034, + 39.719718652975445 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}