Add files using upload-large-folder tool
Browse files- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_09-38-25_464467/pose.jsonl +570 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_09-43-51_456056/pose.jsonl +569 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_10-19-41_700666/pose.jsonl +427 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-07-49_366860/pose.jsonl +660 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-36-39_501344/pose.jsonl +803 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-41-16_637513/pose.jsonl +439 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_12-04-41_56056/pose.jsonl +544 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_12-08-35_102623/pose.jsonl +608 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_0-40-8_2001100545/pose.jsonl +444 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_0-50-28_1843993368/pose.jsonl +379 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-36-15_1395235128/pose.jsonl +444 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-41-18_2086206725/pose.jsonl +262 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-47-20_1450573622/pose.jsonl +301 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_10-59-45_1752143421/pose.jsonl +379 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_11-5-8_1566586128/pose.jsonl +197 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_11-8-48_1113331867/pose.jsonl +457 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_4-55-42_1003886059/pose.jsonl +379 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_4-8-21_1605539862/pose.jsonl +314 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_5-49-51_1351538839/pose.jsonl +340 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_6-21-37_202550399/pose.jsonl +301 -0
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_09-38-25_464467/pose.jsonl
ADDED
|
@@ -0,0 +1,570 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
773.136520074516,
|
| 6 |
+
532.4765447881632,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
1.0471975511966072
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 1.0471975511966072
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
773.136520074516,
|
| 20 |
+
532.4765447881632,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
1.0471975511966072
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 1.0471975511966072
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
773.136520074516,
|
| 34 |
+
532.4765447881632,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
1.0471975511966072
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 1.0471975511966072
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
773.136520074516,
|
| 48 |
+
532.4765447881632,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
1.0471975511966072
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 1.0471975511966072
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
773.136520074516,
|
| 62 |
+
532.4765447881632,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 1.0471975511966072
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
774.636520074516,
|
| 75 |
+
535.0746209995166,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 1.0471975511966072
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
776.136520074516,
|
| 88 |
+
537.67269721087,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 1.0471975511966072
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
777.636520074516,
|
| 101 |
+
540.2707734222233,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 1.0471975511966072
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
779.136520074516,
|
| 114 |
+
542.8688496335767,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 1.0471975511966072
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
780.636520074516,
|
| 127 |
+
545.4669258449301,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 1.0471975511966072
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
782.136520074516,
|
| 140 |
+
548.0650020562834,
|
| 141 |
+
35.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 1.0471975511966072
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
783.636520074516,
|
| 153 |
+
550.6630782676368,
|
| 154 |
+
35.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 1.0471975511966072
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
785.136520074516,
|
| 166 |
+
553.2611544789902,
|
| 167 |
+
35.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 1.0471975511966072
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
786.636520074516,
|
| 179 |
+
555.8592306903436,
|
| 180 |
+
35.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 1.0471975511966072
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
788.136520074516,
|
| 192 |
+
558.4573069016969,
|
| 193 |
+
35.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 1.0471975511966072
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
789.636520074516,
|
| 205 |
+
561.0553831130503,
|
| 206 |
+
35.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 1.0471975511966072
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
791.136520074516,
|
| 218 |
+
563.6534593244037,
|
| 219 |
+
35.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 1.0471975511966072
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
792.636520074516,
|
| 231 |
+
566.2515355357571,
|
| 232 |
+
35.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 1.0471975511966072
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
794.136520074516,
|
| 244 |
+
568.8496117471104,
|
| 245 |
+
35.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 1.0471975511966072
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
795.636520074516,
|
| 257 |
+
571.4476879584638,
|
| 258 |
+
35.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 1.0471975511966072
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
797.136520074516,
|
| 270 |
+
574.0457641698172,
|
| 271 |
+
35.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 1.0471975511966072
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
798.636520074516,
|
| 283 |
+
576.6438403811705,
|
| 284 |
+
35.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 1.0471975511966072
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
800.136520074516,
|
| 296 |
+
579.2419165925239,
|
| 297 |
+
35.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 1.0471975511966072
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
801.636520074516,
|
| 309 |
+
581.8399928038773,
|
| 310 |
+
35.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 1.0471975511966072
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
803.136520074516,
|
| 322 |
+
584.4380690152307,
|
| 323 |
+
35.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go up",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 1.0471975511966072
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
803.136520074516,
|
| 335 |
+
584.4380690152307,
|
| 336 |
+
38.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "turn left",
|
| 339 |
+
"value": 30,
|
| 340 |
+
"yaw": 1.0471975511966072
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
803.136520074516,
|
| 348 |
+
584.4380690152307,
|
| 349 |
+
38.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 1.0471975511966072
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
803.136520074516,
|
| 361 |
+
587.4380690152307,
|
| 362 |
+
38.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 1.0471975511966072
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
803.136520074516,
|
| 374 |
+
590.4380690152307,
|
| 375 |
+
38.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": 1.0471975511966072
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
803.136520074516,
|
| 387 |
+
593.4380690152307,
|
| 388 |
+
38.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": 1.0471975511966072
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
803.136520074516,
|
| 400 |
+
596.4380690152307,
|
| 401 |
+
38.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": 1.5707963267949059
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
803.136520074516,
|
| 413 |
+
599.4380690152307,
|
| 414 |
+
38.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "turn left",
|
| 417 |
+
"value": 30,
|
| 418 |
+
"yaw": 1.5707963267948966
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
803.136520074516,
|
| 426 |
+
599.4380690152307,
|
| 427 |
+
38.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 1.5707963267948966
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
801.636520074516,
|
| 439 |
+
602.036145226584,
|
| 440 |
+
38.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": 1.5707963267948966
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
800.136520074516,
|
| 452 |
+
604.6342214379374,
|
| 453 |
+
38.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "turn right",
|
| 456 |
+
"value": 30,
|
| 457 |
+
"yaw": 1.5707963267948966
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
800.136520074516,
|
| 465 |
+
604.6342214379374,
|
| 466 |
+
38.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go straight",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": 1.5707963267948966
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
800.136520074516,
|
| 478 |
+
607.6342214379374,
|
| 479 |
+
38.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "stop",
|
| 482 |
+
"value": 0,
|
| 483 |
+
"yaw": 2.0943951023931953
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
800.136520074516,
|
| 491 |
+
607.6342214379374,
|
| 492 |
+
35.30811446610947,
|
| 493 |
+
1.5707963267948872
|
| 494 |
+
],
|
| 495 |
+
"type": "down",
|
| 496 |
+
"value": 3,
|
| 497 |
+
"yaw": 1.5707963267948872
|
| 498 |
+
}
|
| 499 |
+
}
|
| 500 |
+
{
|
| 501 |
+
"action": {
|
| 502 |
+
"imageid": 38,
|
| 503 |
+
"pos": [
|
| 504 |
+
800.136520074516,
|
| 505 |
+
607.6342214379374,
|
| 506 |
+
32.30811446610947,
|
| 507 |
+
1.5707963267948872
|
| 508 |
+
],
|
| 509 |
+
"type": "down",
|
| 510 |
+
"value": 3,
|
| 511 |
+
"yaw": 1.5707963267948872
|
| 512 |
+
}
|
| 513 |
+
}
|
| 514 |
+
{
|
| 515 |
+
"action": {
|
| 516 |
+
"imageid": 39,
|
| 517 |
+
"pos": [
|
| 518 |
+
800.136520074516,
|
| 519 |
+
607.6342214379374,
|
| 520 |
+
29.308114466109473,
|
| 521 |
+
1.5707963267948872
|
| 522 |
+
],
|
| 523 |
+
"type": "down",
|
| 524 |
+
"value": 3,
|
| 525 |
+
"yaw": 1.5707963267948872
|
| 526 |
+
}
|
| 527 |
+
}
|
| 528 |
+
{
|
| 529 |
+
"action": {
|
| 530 |
+
"imageid": 40,
|
| 531 |
+
"pos": [
|
| 532 |
+
800.136520074516,
|
| 533 |
+
607.6342214379374,
|
| 534 |
+
26.308114466109473,
|
| 535 |
+
1.5707963267948872
|
| 536 |
+
],
|
| 537 |
+
"type": "down",
|
| 538 |
+
"value": 3,
|
| 539 |
+
"yaw": 1.5707963267948872
|
| 540 |
+
}
|
| 541 |
+
}
|
| 542 |
+
{
|
| 543 |
+
"action": {
|
| 544 |
+
"imageid": 41,
|
| 545 |
+
"pos": [
|
| 546 |
+
800.136520074516,
|
| 547 |
+
607.6342214379374,
|
| 548 |
+
23.308114466109473,
|
| 549 |
+
1.5707963267948872
|
| 550 |
+
],
|
| 551 |
+
"type": "down",
|
| 552 |
+
"value": 3,
|
| 553 |
+
"yaw": 1.5707963267948872
|
| 554 |
+
}
|
| 555 |
+
}
|
| 556 |
+
{
|
| 557 |
+
"aim_landmark": {
|
| 558 |
+
"color": "test",
|
| 559 |
+
"feature": "test",
|
| 560 |
+
"position": [
|
| 561 |
+
800.0,
|
| 562 |
+
608.0,
|
| 563 |
+
31.1308
|
| 564 |
+
],
|
| 565 |
+
"shape": "test",
|
| 566 |
+
"dir": "center",
|
| 567 |
+
"size": "test",
|
| 568 |
+
"type": "building"
|
| 569 |
+
}
|
| 570 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_09-43-51_456056/pose.jsonl
ADDED
|
@@ -0,0 +1,569 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1243.5749081567112,
|
| 6 |
+
-794.7685976424716,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 0.0
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1243.5749081567112,
|
| 20 |
+
-794.7685976424716,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 0.0
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1243.5749081567112,
|
| 34 |
+
-794.7685976424716,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 0.0
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1243.5749081567112,
|
| 48 |
+
-794.7685976424716,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 0.0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1243.5749081567112,
|
| 62 |
+
-794.7685976424716,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 0.0
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1240.5749081567112,
|
| 75 |
+
-794.7685976424716,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 0.0
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1237.5749081567112,
|
| 88 |
+
-794.7685976424716,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 0.0
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1234.5749081567112,
|
| 101 |
+
-794.7685976424716,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 0.0
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1231.5749081567112,
|
| 114 |
+
-794.7685976424716,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 0.0
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1228.5749081567112,
|
| 127 |
+
-794.7685976424716,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 0.0
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1225.5749081567112,
|
| 140 |
+
-794.7685976424716,
|
| 141 |
+
35.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 0.0
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1222.5749081567112,
|
| 153 |
+
-794.7685976424716,
|
| 154 |
+
35.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 0.0
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1219.5749081567112,
|
| 166 |
+
-794.7685976424716,
|
| 167 |
+
35.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 0.0
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1216.5749081567112,
|
| 179 |
+
-794.7685976424716,
|
| 180 |
+
35.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 0.0
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1213.5749081567112,
|
| 192 |
+
-794.7685976424716,
|
| 193 |
+
35.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 0.0
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1210.5749081567112,
|
| 205 |
+
-794.7685976424716,
|
| 206 |
+
35.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 0.0
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1207.5749081567112,
|
| 218 |
+
-794.7685976424716,
|
| 219 |
+
35.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 0.0
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1204.5749081567112,
|
| 231 |
+
-794.7685976424716,
|
| 232 |
+
35.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go up",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 0.0
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1204.5749081567112,
|
| 244 |
+
-794.7685976424716,
|
| 245 |
+
38.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go up",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 0.0
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1204.5749081567112,
|
| 257 |
+
-794.7685976424716,
|
| 258 |
+
41.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go up",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 0.0
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1204.5749081567112,
|
| 270 |
+
-794.7685976424716,
|
| 271 |
+
44.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 0.0
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1201.5749081567112,
|
| 283 |
+
-794.7685976424716,
|
| 284 |
+
44.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 0.0
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1198.5749081567112,
|
| 296 |
+
-794.7685976424716,
|
| 297 |
+
44.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 0.0
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1195.5749081567112,
|
| 309 |
+
-794.7685976424716,
|
| 310 |
+
44.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 0.0
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1192.5749081567112,
|
| 322 |
+
-794.7685976424716,
|
| 323 |
+
44.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 0.0
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1189.5749081567112,
|
| 335 |
+
-794.7685976424716,
|
| 336 |
+
44.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 0.0
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1186.5749081567112,
|
| 348 |
+
-794.7685976424716,
|
| 349 |
+
44.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 0.0
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1183.5749081567112,
|
| 361 |
+
-794.7685976424716,
|
| 362 |
+
44.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 0.0
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1180.5749081567112,
|
| 374 |
+
-794.7685976424716,
|
| 375 |
+
44.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": 0.0
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1177.5749081567112,
|
| 387 |
+
-794.7685976424716,
|
| 388 |
+
44.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": 0.0
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1174.5749081567112,
|
| 400 |
+
-794.7685976424716,
|
| 401 |
+
44.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": 0.0
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1171.5749081567112,
|
| 413 |
+
-794.7685976424716,
|
| 414 |
+
44.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": 0.0
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1168.5749081567112,
|
| 426 |
+
-794.7685976424716,
|
| 427 |
+
44.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go down",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 0.0
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1168.5749081567112,
|
| 439 |
+
-794.7685976424716,
|
| 440 |
+
41.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "turn left",
|
| 443 |
+
"value": 30,
|
| 444 |
+
"yaw": 0.0
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1168.5749081567112,
|
| 452 |
+
-794.7685976424716,
|
| 453 |
+
41.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "go straight",
|
| 456 |
+
"value": 3,
|
| 457 |
+
"yaw": 0.0
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1165.9768319453578,
|
| 465 |
+
-793.2685976424716,
|
| 466 |
+
41.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go down",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": 0.0
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
-1165.9768319453578,
|
| 478 |
+
-793.2685976424716,
|
| 479 |
+
38.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go down",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": 0.0
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
-1165.9768319453578,
|
| 491 |
+
-793.2685976424716,
|
| 492 |
+
35.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "stop",
|
| 495 |
+
"value": 0,
|
| 496 |
+
"yaw": 0.0
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
-1165.9768319453578,
|
| 504 |
+
-793.2685976424716,
|
| 505 |
+
32.30811446610947,
|
| 506 |
+
0.5235987755982988
|
| 507 |
+
],
|
| 508 |
+
"type": "down",
|
| 509 |
+
"value": 3,
|
| 510 |
+
"yaw": 0.5235987755982988
|
| 511 |
+
}
|
| 512 |
+
}
|
| 513 |
+
{
|
| 514 |
+
"action": {
|
| 515 |
+
"imageid": 39,
|
| 516 |
+
"pos": [
|
| 517 |
+
-1165.9768319453578,
|
| 518 |
+
-793.2685976424716,
|
| 519 |
+
29.308114466109473,
|
| 520 |
+
0.5235987755982988
|
| 521 |
+
],
|
| 522 |
+
"type": "down",
|
| 523 |
+
"value": 3,
|
| 524 |
+
"yaw": 0.5235987755982988
|
| 525 |
+
}
|
| 526 |
+
}
|
| 527 |
+
{
|
| 528 |
+
"action": {
|
| 529 |
+
"imageid": 40,
|
| 530 |
+
"pos": [
|
| 531 |
+
-1165.9768319453578,
|
| 532 |
+
-793.2685976424716,
|
| 533 |
+
26.308114466109473,
|
| 534 |
+
0.5235987755982988
|
| 535 |
+
],
|
| 536 |
+
"type": "down",
|
| 537 |
+
"value": 3,
|
| 538 |
+
"yaw": 0.5235987755982988
|
| 539 |
+
}
|
| 540 |
+
}
|
| 541 |
+
{
|
| 542 |
+
"action": {
|
| 543 |
+
"imageid": 41,
|
| 544 |
+
"pos": [
|
| 545 |
+
-1165.9768319453578,
|
| 546 |
+
-793.2685976424716,
|
| 547 |
+
23.308114466109473,
|
| 548 |
+
0.5235987755982988
|
| 549 |
+
],
|
| 550 |
+
"type": "down",
|
| 551 |
+
"value": 3,
|
| 552 |
+
"yaw": 0.5235987755982988
|
| 553 |
+
}
|
| 554 |
+
}
|
| 555 |
+
{
|
| 556 |
+
"aim_landmark": {
|
| 557 |
+
"color": "test",
|
| 558 |
+
"feature": "test",
|
| 559 |
+
"position": [
|
| 560 |
+
-1148.0,
|
| 561 |
+
-792.0,
|
| 562 |
+
38.3905
|
| 563 |
+
],
|
| 564 |
+
"shape": "test",
|
| 565 |
+
"dir": "center",
|
| 566 |
+
"size": "test",
|
| 567 |
+
"type": "building"
|
| 568 |
+
}
|
| 569 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_10-19-41_700666/pose.jsonl
ADDED
|
@@ -0,0 +1,427 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1489.9606240639662,
|
| 6 |
+
-748.9388768397635,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
2.094395102393186
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 2.094395102393186
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1489.9606240639662,
|
| 20 |
+
-748.9388768397635,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
2.094395102393186
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 2.094395102393186
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1489.9606240639662,
|
| 34 |
+
-748.9388768397635,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
2.094395102393186
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 2.094395102393186
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1489.9606240639662,
|
| 48 |
+
-748.9388768397635,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
2.094395102393186
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 2.094395102393186
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1489.9606240639662,
|
| 62 |
+
-748.9388768397635,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 2.094395102393186
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1491.4606240639662,
|
| 75 |
+
-746.3408006284101,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 2.094395102393186
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1492.9606240639662,
|
| 88 |
+
-743.7427244170567,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 2.094395102393186
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1494.4606240639662,
|
| 101 |
+
-741.1446482057033,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 2.094395102393186
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1495.9606240639662,
|
| 114 |
+
-738.54657199435,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 2.094395102393186
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1497.4606240639662,
|
| 127 |
+
-735.9484957829966,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go up",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 2.094395102393186
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1497.4606240639662,
|
| 140 |
+
-735.9484957829966,
|
| 141 |
+
38.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 2.094395102393186
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1498.9606240639662,
|
| 153 |
+
-733.3504195716432,
|
| 154 |
+
38.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 2.094395102393186
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1500.4606240639662,
|
| 166 |
+
-730.7523433602898,
|
| 167 |
+
38.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 2.094395102393186
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1501.9606240639662,
|
| 179 |
+
-728.1542671489365,
|
| 180 |
+
38.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 2.094395102393186
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1503.4606240639662,
|
| 192 |
+
-725.5561909375831,
|
| 193 |
+
38.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 2.094395102393186
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1504.9606240639662,
|
| 205 |
+
-722.9581147262297,
|
| 206 |
+
38.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 2.094395102393186
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1506.4606240639662,
|
| 218 |
+
-720.3600385148764,
|
| 219 |
+
38.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 2.094395102393186
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1507.9606240639662,
|
| 231 |
+
-717.761962303523,
|
| 232 |
+
38.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 2.094395102393186
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1509.4606240639662,
|
| 244 |
+
-715.1638860921696,
|
| 245 |
+
38.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 2.094395102393186
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1510.9606240639662,
|
| 257 |
+
-712.5658098808162,
|
| 258 |
+
38.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 2.094395102393186
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1512.4606240639662,
|
| 270 |
+
-709.9677336694629,
|
| 271 |
+
38.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 2.094395102393186
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1513.9606240639662,
|
| 283 |
+
-707.3696574581095,
|
| 284 |
+
38.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 2.094395102393186
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1515.4606240639662,
|
| 296 |
+
-704.7715812467561,
|
| 297 |
+
38.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 2.094395102393186
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1516.9606240639662,
|
| 309 |
+
-702.1735050354027,
|
| 310 |
+
38.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 2.094395102393186
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1518.4606240639662,
|
| 322 |
+
-699.5754288240494,
|
| 323 |
+
38.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 2.094395102393186
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1519.9606240639662,
|
| 335 |
+
-696.977352612696,
|
| 336 |
+
38.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "stop",
|
| 339 |
+
"value": 0,
|
| 340 |
+
"yaw": 2.094395102393186
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1519.9606240639662,
|
| 348 |
+
-696.977352612696,
|
| 349 |
+
35.30811446610947,
|
| 350 |
+
2.094395102393186
|
| 351 |
+
],
|
| 352 |
+
"type": "down",
|
| 353 |
+
"value": 3,
|
| 354 |
+
"yaw": 2.094395102393186
|
| 355 |
+
}
|
| 356 |
+
}
|
| 357 |
+
{
|
| 358 |
+
"action": {
|
| 359 |
+
"imageid": 27,
|
| 360 |
+
"pos": [
|
| 361 |
+
-1519.9606240639662,
|
| 362 |
+
-696.977352612696,
|
| 363 |
+
32.30811446610947,
|
| 364 |
+
2.094395102393186
|
| 365 |
+
],
|
| 366 |
+
"type": "down",
|
| 367 |
+
"value": 3,
|
| 368 |
+
"yaw": 2.094395102393186
|
| 369 |
+
}
|
| 370 |
+
}
|
| 371 |
+
{
|
| 372 |
+
"action": {
|
| 373 |
+
"imageid": 28,
|
| 374 |
+
"pos": [
|
| 375 |
+
-1519.9606240639662,
|
| 376 |
+
-696.977352612696,
|
| 377 |
+
29.308114466109473,
|
| 378 |
+
2.094395102393186
|
| 379 |
+
],
|
| 380 |
+
"type": "down",
|
| 381 |
+
"value": 3,
|
| 382 |
+
"yaw": 2.094395102393186
|
| 383 |
+
}
|
| 384 |
+
}
|
| 385 |
+
{
|
| 386 |
+
"action": {
|
| 387 |
+
"imageid": 29,
|
| 388 |
+
"pos": [
|
| 389 |
+
-1519.9606240639662,
|
| 390 |
+
-696.977352612696,
|
| 391 |
+
26.308114466109473,
|
| 392 |
+
2.094395102393186
|
| 393 |
+
],
|
| 394 |
+
"type": "down",
|
| 395 |
+
"value": 3,
|
| 396 |
+
"yaw": 2.094395102393186
|
| 397 |
+
}
|
| 398 |
+
}
|
| 399 |
+
{
|
| 400 |
+
"action": {
|
| 401 |
+
"imageid": 30,
|
| 402 |
+
"pos": [
|
| 403 |
+
-1519.9606240639662,
|
| 404 |
+
-696.977352612696,
|
| 405 |
+
23.308114466109473,
|
| 406 |
+
2.094395102393186
|
| 407 |
+
],
|
| 408 |
+
"type": "down",
|
| 409 |
+
"value": 3,
|
| 410 |
+
"yaw": 2.094395102393186
|
| 411 |
+
}
|
| 412 |
+
}
|
| 413 |
+
{
|
| 414 |
+
"aim_landmark": {
|
| 415 |
+
"color": "test",
|
| 416 |
+
"feature": "test",
|
| 417 |
+
"position": [
|
| 418 |
+
-1520.0,
|
| 419 |
+
-696.0,
|
| 420 |
+
30.4959
|
| 421 |
+
],
|
| 422 |
+
"shape": "test",
|
| 423 |
+
"dir": "right",
|
| 424 |
+
"size": "test",
|
| 425 |
+
"type": "building"
|
| 426 |
+
}
|
| 427 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-07-49_366860/pose.jsonl
ADDED
|
@@ -0,0 +1,660 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1751.0175744592918,
|
| 6 |
+
277.3677871992531,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 0.0
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1751.0175744592918,
|
| 20 |
+
277.3677871992531,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 0.0
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1751.0175744592918,
|
| 34 |
+
277.3677871992531,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 0.0
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1751.0175744592918,
|
| 48 |
+
277.3677871992531,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 0.0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1751.0175744592918,
|
| 62 |
+
277.3677871992531,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 0.0
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1748.0175744592918,
|
| 75 |
+
277.3677871992531,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "turn right",
|
| 79 |
+
"value": 30,
|
| 80 |
+
"yaw": 0.0
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1748.0175744592918,
|
| 88 |
+
277.3677871992531,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 0.0
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1745.4194982479385,
|
| 101 |
+
275.8677871992531,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "turn right",
|
| 105 |
+
"value": 30,
|
| 106 |
+
"yaw": 0.0
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1745.4194982479385,
|
| 114 |
+
275.8677871992531,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 0.0
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1743.9194982479385,
|
| 127 |
+
273.26971098789977,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "turn left",
|
| 131 |
+
"value": 30,
|
| 132 |
+
"yaw": 0.0
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1743.9194982479385,
|
| 140 |
+
273.26971098789977,
|
| 141 |
+
35.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "turn left",
|
| 144 |
+
"value": 30,
|
| 145 |
+
"yaw": -0.5235987755982988
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1743.9194982479385,
|
| 153 |
+
273.26971098789977,
|
| 154 |
+
35.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": -0.5235987755982894
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1740.9194982479385,
|
| 166 |
+
273.26971098789977,
|
| 167 |
+
35.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": -1.047197551196588
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1737.9194982479385,
|
| 179 |
+
273.26971098789977,
|
| 180 |
+
35.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": -1.0471975511965979
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1734.9194982479385,
|
| 192 |
+
273.26971098789977,
|
| 193 |
+
35.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": -0.523598775598299
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1731.9194982479385,
|
| 205 |
+
273.26971098789977,
|
| 206 |
+
35.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": -2.220446049250313e-16
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1728.9194982479385,
|
| 218 |
+
273.26971098789977,
|
| 219 |
+
35.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 0.0
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1725.9194982479385,
|
| 231 |
+
273.26971098789977,
|
| 232 |
+
35.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 0.0
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1722.9194982479385,
|
| 244 |
+
273.26971098789977,
|
| 245 |
+
35.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 0.0
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1719.9194982479385,
|
| 257 |
+
273.26971098789977,
|
| 258 |
+
35.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "turn left",
|
| 261 |
+
"value": 30,
|
| 262 |
+
"yaw": 0.0
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1719.9194982479385,
|
| 270 |
+
273.26971098789977,
|
| 271 |
+
35.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 0.0
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1717.321422036585,
|
| 283 |
+
274.76971098789977,
|
| 284 |
+
35.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 0.0
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1714.7233458252317,
|
| 296 |
+
276.26971098789977,
|
| 297 |
+
35.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 0.0
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1712.1252696138783,
|
| 309 |
+
277.76971098789977,
|
| 310 |
+
35.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go up",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 0.0
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1712.1252696138783,
|
| 322 |
+
277.76971098789977,
|
| 323 |
+
38.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 0.5235987755982988
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1709.527193402525,
|
| 335 |
+
279.26971098789977,
|
| 336 |
+
38.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 0.5235987755982894
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1706.9291171911716,
|
| 348 |
+
280.76971098789977,
|
| 349 |
+
38.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 0.5235987755982894
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1704.3310409798182,
|
| 361 |
+
282.26971098789977,
|
| 362 |
+
38.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 0.5235987755982894
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1701.7329647684649,
|
| 374 |
+
283.76971098789977,
|
| 375 |
+
38.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": 0.5235987755982894
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1699.1348885571115,
|
| 387 |
+
285.26971098789977,
|
| 388 |
+
38.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": 0.5235987755982894
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1696.536812345758,
|
| 400 |
+
286.76971098789977,
|
| 401 |
+
38.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": 0.5235987755982894
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1693.9387361344047,
|
| 413 |
+
288.26971098789977,
|
| 414 |
+
38.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": 0.5235987755982894
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1691.3406599230514,
|
| 426 |
+
289.76971098789977,
|
| 427 |
+
38.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 0.5235987755982894
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1688.742583711698,
|
| 439 |
+
291.26971098789977,
|
| 440 |
+
38.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": 0.5235987755982894
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1686.1445075003446,
|
| 452 |
+
292.76971098789977,
|
| 453 |
+
38.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "go straight",
|
| 456 |
+
"value": 3,
|
| 457 |
+
"yaw": 0.5235987755982894
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1683.5464312889912,
|
| 465 |
+
294.26971098789977,
|
| 466 |
+
38.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go straight",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": 0.5235987755982894
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
-1680.9483550776379,
|
| 478 |
+
295.76971098789977,
|
| 479 |
+
38.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go straight",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": 0.5235987755982894
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
-1678.3502788662845,
|
| 491 |
+
297.26971098789977,
|
| 492 |
+
38.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "go straight",
|
| 495 |
+
"value": 3,
|
| 496 |
+
"yaw": 0.5235987755982894
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
-1675.7522026549311,
|
| 504 |
+
298.76971098789977,
|
| 505 |
+
38.30811446610947
|
| 506 |
+
],
|
| 507 |
+
"type": "turn right",
|
| 508 |
+
"value": 30,
|
| 509 |
+
"yaw": 0.5235987755982894
|
| 510 |
+
}
|
| 511 |
+
}
|
| 512 |
+
{
|
| 513 |
+
"action": {
|
| 514 |
+
"imageid": 39,
|
| 515 |
+
"pos": [
|
| 516 |
+
-1675.7522026549311,
|
| 517 |
+
298.76971098789977,
|
| 518 |
+
38.30811446610947
|
| 519 |
+
],
|
| 520 |
+
"type": "go straight",
|
| 521 |
+
"value": 3,
|
| 522 |
+
"yaw": 0.5235987755982894
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
{
|
| 526 |
+
"action": {
|
| 527 |
+
"imageid": 40,
|
| 528 |
+
"pos": [
|
| 529 |
+
-1672.7522026549311,
|
| 530 |
+
298.76971098789977,
|
| 531 |
+
38.30811446610947
|
| 532 |
+
],
|
| 533 |
+
"type": "go straight",
|
| 534 |
+
"value": 3,
|
| 535 |
+
"yaw": 0.5235987755982894
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
{
|
| 539 |
+
"action": {
|
| 540 |
+
"imageid": 41,
|
| 541 |
+
"pos": [
|
| 542 |
+
-1669.7522026549311,
|
| 543 |
+
298.76971098789977,
|
| 544 |
+
38.30811446610947
|
| 545 |
+
],
|
| 546 |
+
"type": "go straight",
|
| 547 |
+
"value": 3,
|
| 548 |
+
"yaw": 0.5235987755982894
|
| 549 |
+
}
|
| 550 |
+
}
|
| 551 |
+
{
|
| 552 |
+
"action": {
|
| 553 |
+
"imageid": 42,
|
| 554 |
+
"pos": [
|
| 555 |
+
-1666.7522026549311,
|
| 556 |
+
298.76971098789977,
|
| 557 |
+
38.30811446610947
|
| 558 |
+
],
|
| 559 |
+
"type": "go straight",
|
| 560 |
+
"value": 3,
|
| 561 |
+
"yaw": 0.5235987755982894
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
{
|
| 565 |
+
"action": {
|
| 566 |
+
"imageid": 43,
|
| 567 |
+
"pos": [
|
| 568 |
+
-1663.7522026549311,
|
| 569 |
+
298.76971098789977,
|
| 570 |
+
38.30811446610947
|
| 571 |
+
],
|
| 572 |
+
"type": "go down",
|
| 573 |
+
"value": 3,
|
| 574 |
+
"yaw": -9.43689570931383e-15
|
| 575 |
+
}
|
| 576 |
+
}
|
| 577 |
+
{
|
| 578 |
+
"action": {
|
| 579 |
+
"imageid": 44,
|
| 580 |
+
"pos": [
|
| 581 |
+
-1663.7522026549311,
|
| 582 |
+
298.76971098789977,
|
| 583 |
+
35.30811446610947
|
| 584 |
+
],
|
| 585 |
+
"type": "stop",
|
| 586 |
+
"value": 0,
|
| 587 |
+
"yaw": 0.0
|
| 588 |
+
}
|
| 589 |
+
}
|
| 590 |
+
{
|
| 591 |
+
"action": {
|
| 592 |
+
"imageid": 45,
|
| 593 |
+
"pos": [
|
| 594 |
+
-1663.7522026549311,
|
| 595 |
+
298.76971098789977,
|
| 596 |
+
32.30811446610947,
|
| 597 |
+
0.0
|
| 598 |
+
],
|
| 599 |
+
"type": "down",
|
| 600 |
+
"value": 3,
|
| 601 |
+
"yaw": 0.0
|
| 602 |
+
}
|
| 603 |
+
}
|
| 604 |
+
{
|
| 605 |
+
"action": {
|
| 606 |
+
"imageid": 46,
|
| 607 |
+
"pos": [
|
| 608 |
+
-1663.7522026549311,
|
| 609 |
+
298.76971098789977,
|
| 610 |
+
29.308114466109473,
|
| 611 |
+
0.0
|
| 612 |
+
],
|
| 613 |
+
"type": "down",
|
| 614 |
+
"value": 3,
|
| 615 |
+
"yaw": 0.0
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
{
|
| 619 |
+
"action": {
|
| 620 |
+
"imageid": 47,
|
| 621 |
+
"pos": [
|
| 622 |
+
-1663.7522026549311,
|
| 623 |
+
298.76971098789977,
|
| 624 |
+
26.308114466109473,
|
| 625 |
+
0.0
|
| 626 |
+
],
|
| 627 |
+
"type": "down",
|
| 628 |
+
"value": 3,
|
| 629 |
+
"yaw": 0.0
|
| 630 |
+
}
|
| 631 |
+
}
|
| 632 |
+
{
|
| 633 |
+
"action": {
|
| 634 |
+
"imageid": 48,
|
| 635 |
+
"pos": [
|
| 636 |
+
-1663.7522026549311,
|
| 637 |
+
298.76971098789977,
|
| 638 |
+
23.308114466109473,
|
| 639 |
+
0.0
|
| 640 |
+
],
|
| 641 |
+
"type": "down",
|
| 642 |
+
"value": 3,
|
| 643 |
+
"yaw": 0.0
|
| 644 |
+
}
|
| 645 |
+
}
|
| 646 |
+
{
|
| 647 |
+
"aim_landmark": {
|
| 648 |
+
"color": "test",
|
| 649 |
+
"feature": "test",
|
| 650 |
+
"position": [
|
| 651 |
+
-1660.0,
|
| 652 |
+
300.0,
|
| 653 |
+
29.9644
|
| 654 |
+
],
|
| 655 |
+
"shape": "test",
|
| 656 |
+
"dir": "center",
|
| 657 |
+
"size": "test",
|
| 658 |
+
"type": "building"
|
| 659 |
+
}
|
| 660 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-36-39_501344/pose.jsonl
ADDED
|
@@ -0,0 +1,803 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1314.1920260959835,
|
| 6 |
+
723.6414668471656,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
2.034e-320
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 2.034e-320
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1314.1920260959835,
|
| 20 |
+
723.6414668471656,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
2.034e-320
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 2.034e-320
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1314.1920260959835,
|
| 34 |
+
723.6414668471656,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
2.034e-320
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 2.034e-320
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1314.1920260959835,
|
| 48 |
+
723.6414668471656,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
2.034e-320
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 2.034e-320
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1314.1920260959835,
|
| 62 |
+
723.6414668471656,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go up",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 2.034e-320
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1314.1920260959835,
|
| 75 |
+
723.6414668471656,
|
| 76 |
+
38.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go up",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 2.034e-320
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1314.1920260959835,
|
| 88 |
+
723.6414668471656,
|
| 89 |
+
41.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go up",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 2.034e-320
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1314.1920260959835,
|
| 101 |
+
723.6414668471656,
|
| 102 |
+
44.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go up",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 2.034e-320
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1314.1920260959835,
|
| 114 |
+
723.6414668471656,
|
| 115 |
+
47.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go up",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 0.0
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1314.1920260959835,
|
| 127 |
+
723.6414668471656,
|
| 128 |
+
50.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go up",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 0.0
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1314.1920260959835,
|
| 140 |
+
723.6414668471656,
|
| 141 |
+
53.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go up",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 0.0
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1314.1920260959835,
|
| 153 |
+
723.6414668471656,
|
| 154 |
+
56.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "turn left",
|
| 157 |
+
"value": 30,
|
| 158 |
+
"yaw": 0.0
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1314.1920260959835,
|
| 166 |
+
723.6414668471656,
|
| 167 |
+
56.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "turn left",
|
| 170 |
+
"value": 30,
|
| 171 |
+
"yaw": 0.0
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1314.1920260959835,
|
| 179 |
+
723.6414668471656,
|
| 180 |
+
56.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "turn left",
|
| 183 |
+
"value": 30,
|
| 184 |
+
"yaw": 0.0
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1314.1920260959835,
|
| 192 |
+
723.6414668471656,
|
| 193 |
+
56.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "turn left",
|
| 196 |
+
"value": 30,
|
| 197 |
+
"yaw": 0.0
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1314.1920260959835,
|
| 205 |
+
723.6414668471656,
|
| 206 |
+
56.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "turn left",
|
| 209 |
+
"value": 30,
|
| 210 |
+
"yaw": 0.0
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1314.1920260959835,
|
| 218 |
+
723.6414668471656,
|
| 219 |
+
56.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "turn left",
|
| 222 |
+
"value": 30,
|
| 223 |
+
"yaw": 0.5235987755982988
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1314.1920260959835,
|
| 231 |
+
723.6414668471656,
|
| 232 |
+
56.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 1.0471975511965976
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1317.1920260959835,
|
| 244 |
+
723.6414668471656,
|
| 245 |
+
56.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 1.5707963267948966
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1320.1920260959835,
|
| 257 |
+
723.6414668471656,
|
| 258 |
+
56.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 2.0943951023931953
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1323.1920260959835,
|
| 270 |
+
723.6414668471656,
|
| 271 |
+
56.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 2.617993877991494
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1326.1920260959835,
|
| 283 |
+
723.6414668471656,
|
| 284 |
+
56.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "turn right",
|
| 287 |
+
"value": 30,
|
| 288 |
+
"yaw": 3.141592653589793
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1326.1920260959835,
|
| 296 |
+
723.6414668471656,
|
| 297 |
+
56.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 3.141592653589793
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1328.7901023073368,
|
| 309 |
+
725.1414668471656,
|
| 310 |
+
56.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 3.141592653589793
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1331.3881785186902,
|
| 322 |
+
726.6414668471656,
|
| 323 |
+
56.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 3.141592653589793
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1333.9862547300436,
|
| 335 |
+
728.1414668471656,
|
| 336 |
+
56.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 3.141592653589793
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1336.584330941397,
|
| 348 |
+
729.6414668471656,
|
| 349 |
+
56.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 2.6179938779914944
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1339.1824071527503,
|
| 361 |
+
731.1414668471656,
|
| 362 |
+
56.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 2.6179938779915037
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1341.7804833641037,
|
| 374 |
+
732.6414668471656,
|
| 375 |
+
56.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": 2.6179938779915037
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1344.378559575457,
|
| 387 |
+
734.1414668471656,
|
| 388 |
+
56.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": 2.6179938779915037
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1346.9766357868104,
|
| 400 |
+
735.6414668471656,
|
| 401 |
+
56.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": 2.6179938779915037
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1349.5747119981638,
|
| 413 |
+
737.1414668471656,
|
| 414 |
+
56.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": 2.6179938779915037
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1352.1727882095172,
|
| 426 |
+
738.6414668471656,
|
| 427 |
+
56.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 2.6179938779915037
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1354.7708644208706,
|
| 439 |
+
740.1414668471656,
|
| 440 |
+
56.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": 2.6179938779915037
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1357.368940632224,
|
| 452 |
+
741.6414668471656,
|
| 453 |
+
56.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "go straight",
|
| 456 |
+
"value": 3,
|
| 457 |
+
"yaw": 2.6179938779915037
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1359.9670168435773,
|
| 465 |
+
743.1414668471656,
|
| 466 |
+
56.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go straight",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": 2.6179938779915037
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
-1362.5650930549307,
|
| 478 |
+
744.6414668471656,
|
| 479 |
+
56.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go straight",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": 2.6179938779915037
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
-1365.163169266284,
|
| 491 |
+
746.1414668471656,
|
| 492 |
+
56.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "go straight",
|
| 495 |
+
"value": 3,
|
| 496 |
+
"yaw": 2.6179938779915037
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
-1367.7612454776374,
|
| 504 |
+
747.6414668471656,
|
| 505 |
+
56.30811446610947
|
| 506 |
+
],
|
| 507 |
+
"type": "go straight",
|
| 508 |
+
"value": 3,
|
| 509 |
+
"yaw": 2.6179938779915037
|
| 510 |
+
}
|
| 511 |
+
}
|
| 512 |
+
{
|
| 513 |
+
"action": {
|
| 514 |
+
"imageid": 39,
|
| 515 |
+
"pos": [
|
| 516 |
+
-1370.3593216889908,
|
| 517 |
+
749.1414668471656,
|
| 518 |
+
56.30811446610947
|
| 519 |
+
],
|
| 520 |
+
"type": "go down",
|
| 521 |
+
"value": 3,
|
| 522 |
+
"yaw": 2.6179938779915037
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
{
|
| 526 |
+
"action": {
|
| 527 |
+
"imageid": 40,
|
| 528 |
+
"pos": [
|
| 529 |
+
-1370.3593216889908,
|
| 530 |
+
749.1414668471656,
|
| 531 |
+
53.30811446610947
|
| 532 |
+
],
|
| 533 |
+
"type": "turn right",
|
| 534 |
+
"value": 30,
|
| 535 |
+
"yaw": 2.6179938779915037
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
{
|
| 539 |
+
"action": {
|
| 540 |
+
"imageid": 41,
|
| 541 |
+
"pos": [
|
| 542 |
+
-1370.3593216889908,
|
| 543 |
+
749.1414668471656,
|
| 544 |
+
53.30811446610947
|
| 545 |
+
],
|
| 546 |
+
"type": "go straight",
|
| 547 |
+
"value": 3,
|
| 548 |
+
"yaw": 2.6179938779915037
|
| 549 |
+
}
|
| 550 |
+
}
|
| 551 |
+
{
|
| 552 |
+
"action": {
|
| 553 |
+
"imageid": 42,
|
| 554 |
+
"pos": [
|
| 555 |
+
-1371.8593216889908,
|
| 556 |
+
751.7395430585188,
|
| 557 |
+
53.30811446610947
|
| 558 |
+
],
|
| 559 |
+
"type": "go straight",
|
| 560 |
+
"value": 3,
|
| 561 |
+
"yaw": 2.6179938779915037
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
{
|
| 565 |
+
"action": {
|
| 566 |
+
"imageid": 43,
|
| 567 |
+
"pos": [
|
| 568 |
+
-1373.3593216889908,
|
| 569 |
+
754.3376192698722,
|
| 570 |
+
53.30811446610947
|
| 571 |
+
],
|
| 572 |
+
"type": "go straight",
|
| 573 |
+
"value": 3,
|
| 574 |
+
"yaw": 2.6179938779915037
|
| 575 |
+
}
|
| 576 |
+
}
|
| 577 |
+
{
|
| 578 |
+
"action": {
|
| 579 |
+
"imageid": 44,
|
| 580 |
+
"pos": [
|
| 581 |
+
-1374.8593216889908,
|
| 582 |
+
756.9356954812256,
|
| 583 |
+
53.30811446610947
|
| 584 |
+
],
|
| 585 |
+
"type": "go straight",
|
| 586 |
+
"value": 3,
|
| 587 |
+
"yaw": 2.6179938779915037
|
| 588 |
+
}
|
| 589 |
+
}
|
| 590 |
+
{
|
| 591 |
+
"action": {
|
| 592 |
+
"imageid": 45,
|
| 593 |
+
"pos": [
|
| 594 |
+
-1376.3593216889908,
|
| 595 |
+
759.533771692579,
|
| 596 |
+
53.30811446610947
|
| 597 |
+
],
|
| 598 |
+
"type": "go straight",
|
| 599 |
+
"value": 3,
|
| 600 |
+
"yaw": 2.094395102393205
|
| 601 |
+
}
|
| 602 |
+
}
|
| 603 |
+
{
|
| 604 |
+
"action": {
|
| 605 |
+
"imageid": 46,
|
| 606 |
+
"pos": [
|
| 607 |
+
-1377.8593216889908,
|
| 608 |
+
762.1318479039323,
|
| 609 |
+
53.30811446610947
|
| 610 |
+
],
|
| 611 |
+
"type": "go straight",
|
| 612 |
+
"value": 3,
|
| 613 |
+
"yaw": 2.094395102393205
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
{
|
| 617 |
+
"action": {
|
| 618 |
+
"imageid": 47,
|
| 619 |
+
"pos": [
|
| 620 |
+
-1379.3593216889908,
|
| 621 |
+
764.7299241152857,
|
| 622 |
+
53.30811446610947
|
| 623 |
+
],
|
| 624 |
+
"type": "go down",
|
| 625 |
+
"value": 3,
|
| 626 |
+
"yaw": 2.094395102393186
|
| 627 |
+
}
|
| 628 |
+
}
|
| 629 |
+
{
|
| 630 |
+
"action": {
|
| 631 |
+
"imageid": 48,
|
| 632 |
+
"pos": [
|
| 633 |
+
-1379.3593216889908,
|
| 634 |
+
764.7299241152857,
|
| 635 |
+
50.30811446610947
|
| 636 |
+
],
|
| 637 |
+
"type": "go down",
|
| 638 |
+
"value": 3,
|
| 639 |
+
"yaw": 2.094395102393186
|
| 640 |
+
}
|
| 641 |
+
}
|
| 642 |
+
{
|
| 643 |
+
"action": {
|
| 644 |
+
"imageid": 49,
|
| 645 |
+
"pos": [
|
| 646 |
+
-1379.3593216889908,
|
| 647 |
+
764.7299241152857,
|
| 648 |
+
47.30811446610947
|
| 649 |
+
],
|
| 650 |
+
"type": "go down",
|
| 651 |
+
"value": 3,
|
| 652 |
+
"yaw": 2.094395102393186
|
| 653 |
+
}
|
| 654 |
+
}
|
| 655 |
+
{
|
| 656 |
+
"action": {
|
| 657 |
+
"imageid": 50,
|
| 658 |
+
"pos": [
|
| 659 |
+
-1379.3593216889908,
|
| 660 |
+
764.7299241152857,
|
| 661 |
+
44.30811446610947
|
| 662 |
+
],
|
| 663 |
+
"type": "go down",
|
| 664 |
+
"value": 3,
|
| 665 |
+
"yaw": 2.094395102393186
|
| 666 |
+
}
|
| 667 |
+
}
|
| 668 |
+
{
|
| 669 |
+
"action": {
|
| 670 |
+
"imageid": 51,
|
| 671 |
+
"pos": [
|
| 672 |
+
-1379.3593216889908,
|
| 673 |
+
764.7299241152857,
|
| 674 |
+
41.30811446610947
|
| 675 |
+
],
|
| 676 |
+
"type": "go down",
|
| 677 |
+
"value": 3,
|
| 678 |
+
"yaw": 2.094395102393186
|
| 679 |
+
}
|
| 680 |
+
}
|
| 681 |
+
{
|
| 682 |
+
"action": {
|
| 683 |
+
"imageid": 52,
|
| 684 |
+
"pos": [
|
| 685 |
+
-1379.3593216889908,
|
| 686 |
+
764.7299241152857,
|
| 687 |
+
38.30811446610947
|
| 688 |
+
],
|
| 689 |
+
"type": "go down",
|
| 690 |
+
"value": 3,
|
| 691 |
+
"yaw": 2.094395102393186
|
| 692 |
+
}
|
| 693 |
+
}
|
| 694 |
+
{
|
| 695 |
+
"action": {
|
| 696 |
+
"imageid": 53,
|
| 697 |
+
"pos": [
|
| 698 |
+
-1379.3593216889908,
|
| 699 |
+
764.7299241152857,
|
| 700 |
+
35.30811446610947
|
| 701 |
+
],
|
| 702 |
+
"type": "turn left",
|
| 703 |
+
"value": 30,
|
| 704 |
+
"yaw": 2.094395102393186
|
| 705 |
+
}
|
| 706 |
+
}
|
| 707 |
+
{
|
| 708 |
+
"action": {
|
| 709 |
+
"imageid": 54,
|
| 710 |
+
"pos": [
|
| 711 |
+
-1379.3593216889908,
|
| 712 |
+
764.7299241152857,
|
| 713 |
+
35.30811446610947
|
| 714 |
+
],
|
| 715 |
+
"type": "go straight",
|
| 716 |
+
"value": 3,
|
| 717 |
+
"yaw": 2.094395102393186
|
| 718 |
+
}
|
| 719 |
+
}
|
| 720 |
+
{
|
| 721 |
+
"action": {
|
| 722 |
+
"imageid": 55,
|
| 723 |
+
"pos": [
|
| 724 |
+
-1381.9573979003442,
|
| 725 |
+
766.2299241152857,
|
| 726 |
+
35.30811446610947
|
| 727 |
+
],
|
| 728 |
+
"type": "stop",
|
| 729 |
+
"value": 0,
|
| 730 |
+
"yaw": 2.094395102393186
|
| 731 |
+
}
|
| 732 |
+
}
|
| 733 |
+
{
|
| 734 |
+
"action": {
|
| 735 |
+
"imageid": 56,
|
| 736 |
+
"pos": [
|
| 737 |
+
-1381.9573979003442,
|
| 738 |
+
766.2299241152857,
|
| 739 |
+
32.30811446610947,
|
| 740 |
+
2.617993877991494
|
| 741 |
+
],
|
| 742 |
+
"type": "down",
|
| 743 |
+
"value": 3,
|
| 744 |
+
"yaw": 2.617993877991494
|
| 745 |
+
}
|
| 746 |
+
}
|
| 747 |
+
{
|
| 748 |
+
"action": {
|
| 749 |
+
"imageid": 57,
|
| 750 |
+
"pos": [
|
| 751 |
+
-1381.9573979003442,
|
| 752 |
+
766.2299241152857,
|
| 753 |
+
29.308114466109473,
|
| 754 |
+
2.617993877991494
|
| 755 |
+
],
|
| 756 |
+
"type": "down",
|
| 757 |
+
"value": 3,
|
| 758 |
+
"yaw": 2.617993877991494
|
| 759 |
+
}
|
| 760 |
+
}
|
| 761 |
+
{
|
| 762 |
+
"action": {
|
| 763 |
+
"imageid": 58,
|
| 764 |
+
"pos": [
|
| 765 |
+
-1381.9573979003442,
|
| 766 |
+
766.2299241152857,
|
| 767 |
+
26.308114466109473,
|
| 768 |
+
2.617993877991494
|
| 769 |
+
],
|
| 770 |
+
"type": "down",
|
| 771 |
+
"value": 3,
|
| 772 |
+
"yaw": 2.617993877991494
|
| 773 |
+
}
|
| 774 |
+
}
|
| 775 |
+
{
|
| 776 |
+
"action": {
|
| 777 |
+
"imageid": 59,
|
| 778 |
+
"pos": [
|
| 779 |
+
-1381.9573979003442,
|
| 780 |
+
766.2299241152857,
|
| 781 |
+
23.308114466109473,
|
| 782 |
+
2.617993877991494
|
| 783 |
+
],
|
| 784 |
+
"type": "down",
|
| 785 |
+
"value": 3,
|
| 786 |
+
"yaw": 2.617993877991494
|
| 787 |
+
}
|
| 788 |
+
}
|
| 789 |
+
{
|
| 790 |
+
"aim_landmark": {
|
| 791 |
+
"color": "test",
|
| 792 |
+
"feature": "test",
|
| 793 |
+
"position": [
|
| 794 |
+
-1384.0,
|
| 795 |
+
768.0,
|
| 796 |
+
26.2467
|
| 797 |
+
],
|
| 798 |
+
"shape": "test",
|
| 799 |
+
"dir": "center",
|
| 800 |
+
"size": "test",
|
| 801 |
+
"type": "building"
|
| 802 |
+
}
|
| 803 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-41-16_637513/pose.jsonl
ADDED
|
@@ -0,0 +1,439 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
869.2455736193347,
|
| 6 |
+
1782.2420404078096,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
3.141592653589793
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 3.141592653589793
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
869.2455736193347,
|
| 20 |
+
1782.2420404078096,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
3.141592653589793
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 3.141592653589793
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
869.2455736193347,
|
| 34 |
+
1782.2420404078096,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
3.141592653589793
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 3.141592653589793
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
869.2455736193347,
|
| 48 |
+
1782.2420404078096,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
3.141592653589793
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 3.141592653589793
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
869.2455736193347,
|
| 62 |
+
1782.2420404078096,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 3.141592653589793
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
866.2455736193347,
|
| 75 |
+
1782.2420404078096,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 3.141592653589793
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
863.2455736193347,
|
| 88 |
+
1782.2420404078096,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 3.141592653589793
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
860.2455736193347,
|
| 101 |
+
1782.2420404078096,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 3.141592653589793
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
857.2455736193347,
|
| 114 |
+
1782.2420404078096,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 3.141592653589793
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
854.2455736193347,
|
| 127 |
+
1782.2420404078096,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go up",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 3.141592653589793
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
854.2455736193347,
|
| 140 |
+
1782.2420404078096,
|
| 141 |
+
38.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go up",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 3.141592653589793
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
854.2455736193347,
|
| 153 |
+
1782.2420404078096,
|
| 154 |
+
41.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go up",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 3.141592653589793
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
854.2455736193347,
|
| 166 |
+
1782.2420404078096,
|
| 167 |
+
44.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 3.141592653589793
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
851.2455736193347,
|
| 179 |
+
1782.2420404078096,
|
| 180 |
+
44.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 3.141592653589793
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
848.2455736193347,
|
| 192 |
+
1782.2420404078096,
|
| 193 |
+
44.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 3.141592653589793
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
845.2455736193347,
|
| 205 |
+
1782.2420404078096,
|
| 206 |
+
44.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 3.141592653589793
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
842.2455736193347,
|
| 218 |
+
1782.2420404078096,
|
| 219 |
+
44.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 3.141592653589793
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
839.2455736193347,
|
| 231 |
+
1782.2420404078096,
|
| 232 |
+
44.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 3.141592653589793
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
836.2455736193347,
|
| 244 |
+
1782.2420404078096,
|
| 245 |
+
44.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 3.141592653589793
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
833.2455736193347,
|
| 257 |
+
1782.2420404078096,
|
| 258 |
+
44.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "turn right",
|
| 261 |
+
"value": 30,
|
| 262 |
+
"yaw": 3.141592653589793
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
833.2455736193347,
|
| 270 |
+
1782.2420404078096,
|
| 271 |
+
44.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 3.141592653589793
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
830.6474974079813,
|
| 283 |
+
1783.7420404078096,
|
| 284 |
+
44.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 3.141592653589793
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
828.0494211966279,
|
| 296 |
+
1785.2420404078096,
|
| 297 |
+
44.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 3.141592653589793
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
825.4513449852745,
|
| 309 |
+
1786.7420404078096,
|
| 310 |
+
44.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 3.141592653589793
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
822.8532687739212,
|
| 322 |
+
1788.2420404078096,
|
| 323 |
+
44.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go down",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 2.6179938779914944
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
822.8532687739212,
|
| 335 |
+
1788.2420404078096,
|
| 336 |
+
41.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go down",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 2.6179938779915037
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
822.8532687739212,
|
| 348 |
+
1788.2420404078096,
|
| 349 |
+
38.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go down",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 2.6179938779915037
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
822.8532687739212,
|
| 361 |
+
1788.2420404078096,
|
| 362 |
+
35.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "stop",
|
| 365 |
+
"value": 0,
|
| 366 |
+
"yaw": 2.6179938779915037
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
822.8532687739212,
|
| 374 |
+
1788.2420404078096,
|
| 375 |
+
32.30811446610947,
|
| 376 |
+
2.6179938779915037
|
| 377 |
+
],
|
| 378 |
+
"type": "down",
|
| 379 |
+
"value": 3,
|
| 380 |
+
"yaw": 2.6179938779915037
|
| 381 |
+
}
|
| 382 |
+
}
|
| 383 |
+
{
|
| 384 |
+
"action": {
|
| 385 |
+
"imageid": 29,
|
| 386 |
+
"pos": [
|
| 387 |
+
822.8532687739212,
|
| 388 |
+
1788.2420404078096,
|
| 389 |
+
29.308114466109473,
|
| 390 |
+
2.6179938779915037
|
| 391 |
+
],
|
| 392 |
+
"type": "down",
|
| 393 |
+
"value": 3,
|
| 394 |
+
"yaw": 2.6179938779915037
|
| 395 |
+
}
|
| 396 |
+
}
|
| 397 |
+
{
|
| 398 |
+
"action": {
|
| 399 |
+
"imageid": 30,
|
| 400 |
+
"pos": [
|
| 401 |
+
822.8532687739212,
|
| 402 |
+
1788.2420404078096,
|
| 403 |
+
26.308114466109473,
|
| 404 |
+
2.6179938779915037
|
| 405 |
+
],
|
| 406 |
+
"type": "down",
|
| 407 |
+
"value": 3,
|
| 408 |
+
"yaw": 2.6179938779915037
|
| 409 |
+
}
|
| 410 |
+
}
|
| 411 |
+
{
|
| 412 |
+
"action": {
|
| 413 |
+
"imageid": 31,
|
| 414 |
+
"pos": [
|
| 415 |
+
822.8532687739212,
|
| 416 |
+
1788.2420404078096,
|
| 417 |
+
23.308114466109473,
|
| 418 |
+
2.6179938779915037
|
| 419 |
+
],
|
| 420 |
+
"type": "down",
|
| 421 |
+
"value": 3,
|
| 422 |
+
"yaw": 2.6179938779915037
|
| 423 |
+
}
|
| 424 |
+
}
|
| 425 |
+
{
|
| 426 |
+
"aim_landmark": {
|
| 427 |
+
"color": "test",
|
| 428 |
+
"feature": "test",
|
| 429 |
+
"position": [
|
| 430 |
+
800.0,
|
| 431 |
+
1792.0,
|
| 432 |
+
80.2384
|
| 433 |
+
],
|
| 434 |
+
"shape": "test",
|
| 435 |
+
"dir": "center",
|
| 436 |
+
"size": "test",
|
| 437 |
+
"type": "building"
|
| 438 |
+
}
|
| 439 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_12-04-41_56056/pose.jsonl
ADDED
|
@@ -0,0 +1,544 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1512.5896737716469,
|
| 6 |
+
837.6569083938153,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 0.0
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1512.5896737716469,
|
| 20 |
+
837.6569083938153,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 0.0
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1512.5896737716469,
|
| 34 |
+
837.6569083938153,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 0.0
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1512.5896737716469,
|
| 48 |
+
837.6569083938153,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 0.0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1512.5896737716469,
|
| 62 |
+
837.6569083938153,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 0.0
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1509.5896737716469,
|
| 75 |
+
837.6569083938153,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 0.0
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1506.5896737716469,
|
| 88 |
+
837.6569083938153,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 0.0
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1503.5896737716469,
|
| 101 |
+
837.6569083938153,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 0.0
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1500.5896737716469,
|
| 114 |
+
837.6569083938153,
|
| 115 |
+
35.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 0.0
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1497.5896737716469,
|
| 127 |
+
837.6569083938153,
|
| 128 |
+
35.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 0.0
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1494.5896737716469,
|
| 140 |
+
837.6569083938153,
|
| 141 |
+
35.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 0.0
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1491.5896737716469,
|
| 153 |
+
837.6569083938153,
|
| 154 |
+
35.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go up",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 0.0
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1491.5896737716469,
|
| 166 |
+
837.6569083938153,
|
| 167 |
+
38.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 0.0
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1488.5896737716469,
|
| 179 |
+
837.6569083938153,
|
| 180 |
+
38.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go up",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 0.0
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1488.5896737716469,
|
| 192 |
+
837.6569083938153,
|
| 193 |
+
41.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go up",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 0.0
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1488.5896737716469,
|
| 205 |
+
837.6569083938153,
|
| 206 |
+
44.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 0.0
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1485.5896737716469,
|
| 218 |
+
837.6569083938153,
|
| 219 |
+
44.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 0.0
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1482.5896737716469,
|
| 231 |
+
837.6569083938153,
|
| 232 |
+
44.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 0.0
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1479.5896737716469,
|
| 244 |
+
837.6569083938153,
|
| 245 |
+
44.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 0.0
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1476.5896737716469,
|
| 257 |
+
837.6569083938153,
|
| 258 |
+
44.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 0.0
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1473.5896737716469,
|
| 270 |
+
837.6569083938153,
|
| 271 |
+
44.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 0.0
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1470.5896737716469,
|
| 283 |
+
837.6569083938153,
|
| 284 |
+
44.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 0.0
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1467.5896737716469,
|
| 296 |
+
837.6569083938153,
|
| 297 |
+
44.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 0.0
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1464.5896737716469,
|
| 309 |
+
837.6569083938153,
|
| 310 |
+
44.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "turn right",
|
| 313 |
+
"value": 30,
|
| 314 |
+
"yaw": 0.0
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1464.5896737716469,
|
| 322 |
+
837.6569083938153,
|
| 323 |
+
44.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 0.0
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1461.9915975602935,
|
| 335 |
+
836.1569083938153,
|
| 336 |
+
44.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 0.0
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1459.39352134894,
|
| 348 |
+
834.6569083938153,
|
| 349 |
+
44.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 0.0
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1456.7954451375867,
|
| 361 |
+
833.1569083938153,
|
| 362 |
+
44.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 0.0
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1454.1973689262334,
|
| 374 |
+
831.6569083938153,
|
| 375 |
+
44.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": -0.5235987755982988
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1451.59929271488,
|
| 387 |
+
830.1569083938153,
|
| 388 |
+
44.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go down",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": -0.5235987755982894
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1451.59929271488,
|
| 400 |
+
830.1569083938153,
|
| 401 |
+
41.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go down",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": -0.5235987755982894
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1451.59929271488,
|
| 413 |
+
830.1569083938153,
|
| 414 |
+
38.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "turn left",
|
| 417 |
+
"value": 30,
|
| 418 |
+
"yaw": -0.5235987755982894
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1451.59929271488,
|
| 426 |
+
830.1569083938153,
|
| 427 |
+
38.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "turn left",
|
| 430 |
+
"value": 30,
|
| 431 |
+
"yaw": -0.5235987755982894
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1451.59929271488,
|
| 439 |
+
830.1569083938153,
|
| 440 |
+
38.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": -0.5235987755982894
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1449.0012165035266,
|
| 452 |
+
831.6569083938153,
|
| 453 |
+
38.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "stop",
|
| 456 |
+
"value": 0,
|
| 457 |
+
"yaw": -0.5235987755982894
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1449.0012165035266,
|
| 465 |
+
831.6569083938153,
|
| 466 |
+
35.30811446610947,
|
| 467 |
+
0.5235987755982988
|
| 468 |
+
],
|
| 469 |
+
"type": "down",
|
| 470 |
+
"value": 3,
|
| 471 |
+
"yaw": 0.5235987755982988
|
| 472 |
+
}
|
| 473 |
+
}
|
| 474 |
+
{
|
| 475 |
+
"action": {
|
| 476 |
+
"imageid": 36,
|
| 477 |
+
"pos": [
|
| 478 |
+
-1449.0012165035266,
|
| 479 |
+
831.6569083938153,
|
| 480 |
+
32.30811446610947,
|
| 481 |
+
0.5235987755982988
|
| 482 |
+
],
|
| 483 |
+
"type": "down",
|
| 484 |
+
"value": 3,
|
| 485 |
+
"yaw": 0.5235987755982988
|
| 486 |
+
}
|
| 487 |
+
}
|
| 488 |
+
{
|
| 489 |
+
"action": {
|
| 490 |
+
"imageid": 37,
|
| 491 |
+
"pos": [
|
| 492 |
+
-1449.0012165035266,
|
| 493 |
+
831.6569083938153,
|
| 494 |
+
29.308114466109473,
|
| 495 |
+
0.5235987755982988
|
| 496 |
+
],
|
| 497 |
+
"type": "down",
|
| 498 |
+
"value": 3,
|
| 499 |
+
"yaw": 0.5235987755982988
|
| 500 |
+
}
|
| 501 |
+
}
|
| 502 |
+
{
|
| 503 |
+
"action": {
|
| 504 |
+
"imageid": 38,
|
| 505 |
+
"pos": [
|
| 506 |
+
-1449.0012165035266,
|
| 507 |
+
831.6569083938153,
|
| 508 |
+
26.308114466109473,
|
| 509 |
+
0.5235987755982988
|
| 510 |
+
],
|
| 511 |
+
"type": "down",
|
| 512 |
+
"value": 3,
|
| 513 |
+
"yaw": 0.5235987755982988
|
| 514 |
+
}
|
| 515 |
+
}
|
| 516 |
+
{
|
| 517 |
+
"action": {
|
| 518 |
+
"imageid": 39,
|
| 519 |
+
"pos": [
|
| 520 |
+
-1449.0012165035266,
|
| 521 |
+
831.6569083938153,
|
| 522 |
+
23.308114466109473,
|
| 523 |
+
0.5235987755982988
|
| 524 |
+
],
|
| 525 |
+
"type": "down",
|
| 526 |
+
"value": 3,
|
| 527 |
+
"yaw": 0.5235987755982988
|
| 528 |
+
}
|
| 529 |
+
}
|
| 530 |
+
{
|
| 531 |
+
"aim_landmark": {
|
| 532 |
+
"color": "test",
|
| 533 |
+
"feature": "test",
|
| 534 |
+
"position": [
|
| 535 |
+
-1448.0,
|
| 536 |
+
832.0,
|
| 537 |
+
30.2135
|
| 538 |
+
],
|
| 539 |
+
"shape": "test",
|
| 540 |
+
"dir": "center",
|
| 541 |
+
"size": "test",
|
| 542 |
+
"type": "building"
|
| 543 |
+
}
|
| 544 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_12-08-35_102623/pose.jsonl
ADDED
|
@@ -0,0 +1,608 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1433.423348631514,
|
| 6 |
+
376.5959068962698,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
1.5707963267948966
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 1.5707963267948966
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1433.423348631514,
|
| 20 |
+
376.5959068962698,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
1.5707963267948966
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 1.5707963267948966
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1433.423348631514,
|
| 34 |
+
376.5959068962698,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
1.5707963267948966
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 1.5707963267948966
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1433.423348631514,
|
| 48 |
+
376.5959068962698,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
1.5707963267948966
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 1.5707963267948966
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1433.423348631514,
|
| 62 |
+
376.5959068962698,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 1.5707963267948966
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1433.423348631514,
|
| 75 |
+
379.5959068962698,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 1.5707963267948966
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1433.423348631514,
|
| 88 |
+
382.5959068962698,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go up",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 1.5707963267948966
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1433.423348631514,
|
| 101 |
+
382.5959068962698,
|
| 102 |
+
38.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go straight",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 1.5707963267948966
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1433.423348631514,
|
| 114 |
+
385.5959068962698,
|
| 115 |
+
38.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 1.5707963267948966
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1433.423348631514,
|
| 127 |
+
388.5959068962698,
|
| 128 |
+
38.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 1.5707963267948966
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1433.423348631514,
|
| 140 |
+
391.5959068962698,
|
| 141 |
+
38.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 1.5707963267948966
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1433.423348631514,
|
| 153 |
+
394.5959068962698,
|
| 154 |
+
38.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": 1.5707963267948966
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1433.423348631514,
|
| 166 |
+
397.5959068962698,
|
| 167 |
+
38.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 1.5707963267948966
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1433.423348631514,
|
| 179 |
+
400.5959068962698,
|
| 180 |
+
38.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": 1.5707963267948966
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1433.423348631514,
|
| 192 |
+
403.5959068962698,
|
| 193 |
+
38.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 1.5707963267948966
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1433.423348631514,
|
| 205 |
+
406.5959068962698,
|
| 206 |
+
38.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": 1.5707963267948966
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1433.423348631514,
|
| 218 |
+
409.5959068962698,
|
| 219 |
+
38.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 1.5707963267948966
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1433.423348631514,
|
| 231 |
+
412.5959068962698,
|
| 232 |
+
38.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": 1.5707963267948966
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1433.423348631514,
|
| 244 |
+
415.5959068962698,
|
| 245 |
+
38.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": 1.5707963267948966
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1433.423348631514,
|
| 257 |
+
418.5959068962698,
|
| 258 |
+
38.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": 1.5707963267948966
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1433.423348631514,
|
| 270 |
+
421.5959068962698,
|
| 271 |
+
38.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 1.5707963267948966
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1433.423348631514,
|
| 283 |
+
424.5959068962698,
|
| 284 |
+
38.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 1.5707963267948966
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1433.423348631514,
|
| 296 |
+
427.5959068962698,
|
| 297 |
+
38.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "go straight",
|
| 300 |
+
"value": 3,
|
| 301 |
+
"yaw": 1.5707963267948966
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1433.423348631514,
|
| 309 |
+
430.5959068962698,
|
| 310 |
+
38.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 1.5707963267948966
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1433.423348631514,
|
| 322 |
+
433.5959068962698,
|
| 323 |
+
38.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 1.5707963267948966
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1433.423348631514,
|
| 335 |
+
436.5959068962698,
|
| 336 |
+
38.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 1.5707963267948966
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1433.423348631514,
|
| 348 |
+
439.5959068962698,
|
| 349 |
+
38.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": 1.5707963267948966
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1433.423348631514,
|
| 361 |
+
442.5959068962698,
|
| 362 |
+
38.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "turn left",
|
| 365 |
+
"value": 30,
|
| 366 |
+
"yaw": 1.5707963267948966
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1433.423348631514,
|
| 374 |
+
442.5959068962698,
|
| 375 |
+
38.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "turn left",
|
| 378 |
+
"value": 30,
|
| 379 |
+
"yaw": 1.5707963267948966
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1433.423348631514,
|
| 387 |
+
442.5959068962698,
|
| 388 |
+
38.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": 1.5707963267948966
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1436.0214248428674,
|
| 400 |
+
444.0959068962698,
|
| 401 |
+
38.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": 1.5707963267948966
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1438.6195010542208,
|
| 413 |
+
445.5959068962698,
|
| 414 |
+
38.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": 1.5707963267948966
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1441.2175772655742,
|
| 426 |
+
447.0959068962698,
|
| 427 |
+
38.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 2.0943951023931953
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1443.8156534769275,
|
| 439 |
+
448.5959068962698,
|
| 440 |
+
38.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": 2.617993877991494
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1446.413729688281,
|
| 452 |
+
450.0959068962698,
|
| 453 |
+
38.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "turn right",
|
| 456 |
+
"value": 30,
|
| 457 |
+
"yaw": 2.6179938779915037
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1446.413729688281,
|
| 465 |
+
450.0959068962698,
|
| 466 |
+
38.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go straight",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": 2.6179938779915037
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
-1447.913729688281,
|
| 478 |
+
452.6939831076231,
|
| 479 |
+
38.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go straight",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": 2.6179938779915037
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
-1449.413729688281,
|
| 491 |
+
455.29205931897644,
|
| 492 |
+
38.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "go straight",
|
| 495 |
+
"value": 3,
|
| 496 |
+
"yaw": 2.6179938779915037
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
-1450.913729688281,
|
| 504 |
+
457.89013553032976,
|
| 505 |
+
38.30811446610947
|
| 506 |
+
],
|
| 507 |
+
"type": "go straight",
|
| 508 |
+
"value": 3,
|
| 509 |
+
"yaw": 2.6179938779915037
|
| 510 |
+
}
|
| 511 |
+
}
|
| 512 |
+
{
|
| 513 |
+
"action": {
|
| 514 |
+
"imageid": 39,
|
| 515 |
+
"pos": [
|
| 516 |
+
-1452.413729688281,
|
| 517 |
+
460.4882117416831,
|
| 518 |
+
38.30811446610947
|
| 519 |
+
],
|
| 520 |
+
"type": "go down",
|
| 521 |
+
"value": 3,
|
| 522 |
+
"yaw": 2.094395102393205
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
{
|
| 526 |
+
"action": {
|
| 527 |
+
"imageid": 40,
|
| 528 |
+
"pos": [
|
| 529 |
+
-1452.413729688281,
|
| 530 |
+
460.4882117416831,
|
| 531 |
+
35.30811446610947
|
| 532 |
+
],
|
| 533 |
+
"type": "stop",
|
| 534 |
+
"value": 0,
|
| 535 |
+
"yaw": 2.0943951023931953
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
{
|
| 539 |
+
"action": {
|
| 540 |
+
"imageid": 41,
|
| 541 |
+
"pos": [
|
| 542 |
+
-1452.413729688281,
|
| 543 |
+
460.4882117416831,
|
| 544 |
+
32.30811446610947,
|
| 545 |
+
2.0943951023931953
|
| 546 |
+
],
|
| 547 |
+
"type": "down",
|
| 548 |
+
"value": 3,
|
| 549 |
+
"yaw": 2.0943951023931953
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
{
|
| 553 |
+
"action": {
|
| 554 |
+
"imageid": 42,
|
| 555 |
+
"pos": [
|
| 556 |
+
-1452.413729688281,
|
| 557 |
+
460.4882117416831,
|
| 558 |
+
29.308114466109473,
|
| 559 |
+
2.0943951023931953
|
| 560 |
+
],
|
| 561 |
+
"type": "down",
|
| 562 |
+
"value": 3,
|
| 563 |
+
"yaw": 2.0943951023931953
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
{
|
| 567 |
+
"action": {
|
| 568 |
+
"imageid": 43,
|
| 569 |
+
"pos": [
|
| 570 |
+
-1452.413729688281,
|
| 571 |
+
460.4882117416831,
|
| 572 |
+
26.308114466109473,
|
| 573 |
+
2.0943951023931953
|
| 574 |
+
],
|
| 575 |
+
"type": "down",
|
| 576 |
+
"value": 3,
|
| 577 |
+
"yaw": 2.0943951023931953
|
| 578 |
+
}
|
| 579 |
+
}
|
| 580 |
+
{
|
| 581 |
+
"action": {
|
| 582 |
+
"imageid": 44,
|
| 583 |
+
"pos": [
|
| 584 |
+
-1452.413729688281,
|
| 585 |
+
460.4882117416831,
|
| 586 |
+
23.308114466109473,
|
| 587 |
+
2.0943951023931953
|
| 588 |
+
],
|
| 589 |
+
"type": "down",
|
| 590 |
+
"value": 3,
|
| 591 |
+
"yaw": 2.0943951023931953
|
| 592 |
+
}
|
| 593 |
+
}
|
| 594 |
+
{
|
| 595 |
+
"aim_landmark": {
|
| 596 |
+
"color": "test",
|
| 597 |
+
"feature": "test",
|
| 598 |
+
"position": [
|
| 599 |
+
-1452.0,
|
| 600 |
+
464.0,
|
| 601 |
+
29.0202
|
| 602 |
+
],
|
| 603 |
+
"shape": "test",
|
| 604 |
+
"dir": "right",
|
| 605 |
+
"size": "test",
|
| 606 |
+
"type": "building"
|
| 607 |
+
}
|
| 608 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_0-40-8_2001100545/pose.jsonl
ADDED
|
@@ -0,0 +1,444 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1570.2924746591254,
|
| 6 |
+
-87.181445895074,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1570.2924746591254,
|
| 19 |
+
-87.181445895074,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1570.2924746591254,
|
| 32 |
+
-87.181445895074,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1570.2924746591254,
|
| 45 |
+
-87.181445895074,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1570.2924746591254,
|
| 58 |
+
-87.181445895074,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1568.7924746591254,
|
| 71 |
+
-89.77952210642732,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1567.2924746591254,
|
| 84 |
+
-92.37759831778064,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1565.7924746591254,
|
| 97 |
+
-94.97567452913395,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1564.2924746591254,
|
| 110 |
+
-97.57375074048727,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1562.7924746591254,
|
| 123 |
+
-100.17182695184059,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1561.2924746591254,
|
| 136 |
+
-102.7699031631939,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1559.7924746591254,
|
| 149 |
+
-105.36797937454722,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1558.2924746591254,
|
| 162 |
+
-107.96605558590053,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1556.7924746591254,
|
| 175 |
+
-110.56413179725385,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1555.2924746591254,
|
| 188 |
+
-113.16220800860717,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1553.7924746591254,
|
| 201 |
+
-115.76028421996048,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1552.2924746591254,
|
| 214 |
+
-118.3583604313138,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1550.7924746591254,
|
| 227 |
+
-120.95643664266711,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1549.2924746591254,
|
| 240 |
+
-123.55451285402043,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1547.7924746591254,
|
| 253 |
+
-126.15258906537375,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1546.2924746591254,
|
| 266 |
+
-128.75066527672706,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.0943951023931953
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1544.7924746591254,
|
| 279 |
+
-131.34874148808038,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1543.2924746591254,
|
| 292 |
+
-133.9468176994337,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.0943951023931953
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1541.7924746591254,
|
| 305 |
+
-136.544893910787,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.0943951023931953
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1540.2924746591254,
|
| 318 |
+
-139.14297012214033,
|
| 319 |
+
35.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "turn right",
|
| 322 |
+
"value": 30,
|
| 323 |
+
"yaw": -2.0943951023931953
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1540.2924746591254,
|
| 331 |
+
-139.14297012214033,
|
| 332 |
+
35.30811446610947
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.617993877991494
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1537.694398447772,
|
| 344 |
+
-140.64297012214033,
|
| 345 |
+
35.30811446610947
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
1535.0963222364187,
|
| 357 |
+
-142.14297012214033,
|
| 358 |
+
35.30811446610947
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.6179938779915037
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
1532.4982460250653,
|
| 370 |
+
-143.64297012214033,
|
| 371 |
+
35.30811446610947
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -2.6179938779915037
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
1532.4982460250653,
|
| 383 |
+
-143.64297012214033,
|
| 384 |
+
32.30811446610947
|
| 385 |
+
],
|
| 386 |
+
"type": "down",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -2.6179938779915037
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
1532.4982460250653,
|
| 396 |
+
-143.64297012214033,
|
| 397 |
+
29.308114466109473
|
| 398 |
+
],
|
| 399 |
+
"type": "down",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.6179938779915037
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
1532.4982460250653,
|
| 409 |
+
-143.64297012214033,
|
| 410 |
+
26.308114466109473
|
| 411 |
+
],
|
| 412 |
+
"type": "down",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.6179938779915037
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
1532.4982460250653,
|
| 422 |
+
-143.64297012214033,
|
| 423 |
+
23.308114466109473
|
| 424 |
+
],
|
| 425 |
+
"type": "down",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -2.6179938779915037
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"aim_landmark": {
|
| 432 |
+
"color": "test",
|
| 433 |
+
"feature": "test",
|
| 434 |
+
"position": [
|
| 435 |
+
1520.0,
|
| 436 |
+
-164.0,
|
| 437 |
+
38.5852
|
| 438 |
+
],
|
| 439 |
+
"shape": "test",
|
| 440 |
+
"dir": "left",
|
| 441 |
+
"size": "test",
|
| 442 |
+
"type": "building"
|
| 443 |
+
}
|
| 444 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_0-50-28_1843993368/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1290.3199541844215,
|
| 6 |
+
-407.366379014639,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1290.3199541844215,
|
| 19 |
+
-407.366379014639,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1290.3199541844215,
|
| 32 |
+
-407.366379014639,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1290.3199541844215,
|
| 45 |
+
-407.366379014639,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1290.3199541844215,
|
| 58 |
+
-407.366379014639,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1287.3199541844215,
|
| 71 |
+
-407.366379014639,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1284.3199541844215,
|
| 84 |
+
-407.366379014639,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1281.3199541844215,
|
| 97 |
+
-407.366379014639,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1278.3199541844215,
|
| 110 |
+
-407.366379014639,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1278.3199541844215,
|
| 123 |
+
-407.366379014639,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1275.721877973068,
|
| 136 |
+
-408.866379014639,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1273.1238017617147,
|
| 149 |
+
-410.366379014639,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1270.5257255503614,
|
| 162 |
+
-411.866379014639,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1267.927649339008,
|
| 175 |
+
-413.366379014639,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1265.3295731276546,
|
| 188 |
+
-414.866379014639,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1265.3295731276546,
|
| 201 |
+
-414.866379014639,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.047197551196588
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1263.8295731276546,
|
| 214 |
+
-417.4644552259923,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1262.3295731276546,
|
| 227 |
+
-420.0625314373456,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1260.8295731276546,
|
| 240 |
+
-422.66060764869894,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1259.3295731276546,
|
| 253 |
+
-425.25868386005226,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1257.8295731276546,
|
| 266 |
+
-427.8567600714056,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1256.3295731276546,
|
| 279 |
+
-430.4548362827589,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1254.8295731276546,
|
| 292 |
+
-433.0529124941122,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511965979
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1253.3295731276546,
|
| 305 |
+
-435.6509887054655,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": -1.0471975511965979
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1253.3295731276546,
|
| 318 |
+
-435.6509887054655,
|
| 319 |
+
32.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "down",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511965979
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1253.3295731276546,
|
| 331 |
+
-435.6509887054655,
|
| 332 |
+
29.308114466109473
|
| 333 |
+
],
|
| 334 |
+
"type": "down",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511965979
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1253.3295731276546,
|
| 344 |
+
-435.6509887054655,
|
| 345 |
+
26.308114466109473
|
| 346 |
+
],
|
| 347 |
+
"type": "down",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511965979
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1253.3295731276546,
|
| 357 |
+
-435.6509887054655,
|
| 358 |
+
23.308114466109473
|
| 359 |
+
],
|
| 360 |
+
"type": "down",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.0471975511965979
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-1240.0,
|
| 371 |
+
-448.0,
|
| 372 |
+
51.76
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-36-15_1395235128/pose.jsonl
ADDED
|
@@ -0,0 +1,444 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1099.274342410894,
|
| 6 |
+
1618.5187406295718,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1099.274342410894,
|
| 19 |
+
1618.5187406295718,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1099.274342410894,
|
| 32 |
+
1618.5187406295718,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1099.274342410894,
|
| 45 |
+
1618.5187406295718,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1099.274342410894,
|
| 58 |
+
1618.5187406295718,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1096.274342410894,
|
| 71 |
+
1618.5187406295718,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1093.274342410894,
|
| 84 |
+
1618.5187406295718,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1090.274342410894,
|
| 97 |
+
1618.5187406295718,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1087.274342410894,
|
| 110 |
+
1618.5187406295718,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1084.274342410894,
|
| 123 |
+
1618.5187406295718,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1081.274342410894,
|
| 136 |
+
1618.5187406295718,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1078.274342410894,
|
| 149 |
+
1618.5187406295718,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1075.274342410894,
|
| 162 |
+
1618.5187406295718,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1072.274342410894,
|
| 175 |
+
1618.5187406295718,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1069.274342410894,
|
| 188 |
+
1618.5187406295718,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1066.274342410894,
|
| 201 |
+
1618.5187406295718,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1063.274342410894,
|
| 214 |
+
1618.5187406295718,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1060.274342410894,
|
| 227 |
+
1618.5187406295718,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1057.274342410894,
|
| 240 |
+
1618.5187406295718,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "turn left",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1057.274342410894,
|
| 253 |
+
1618.5187406295718,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1054.6762661995406,
|
| 266 |
+
1620.0187406295718,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "turn left",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1054.6762661995406,
|
| 279 |
+
1620.0187406295718,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.047197551196588
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1053.1762661995406,
|
| 292 |
+
1622.6168168409251,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1051.6762661995406,
|
| 305 |
+
1625.2148930522785,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "turn right",
|
| 309 |
+
"value": 30,
|
| 310 |
+
"yaw": 1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1051.6762661995406,
|
| 318 |
+
1625.2148930522785,
|
| 319 |
+
35.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755983084
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1049.0781899881872,
|
| 331 |
+
1626.7148930522785,
|
| 332 |
+
35.30811446610947
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1046.4801137768338,
|
| 344 |
+
1628.2148930522785,
|
| 345 |
+
35.30811446610947
|
| 346 |
+
],
|
| 347 |
+
"type": "turn right",
|
| 348 |
+
"value": 30,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1046.4801137768338,
|
| 357 |
+
1628.2148930522785,
|
| 358 |
+
35.30811446610947
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -9.43689570931383e-15
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1043.4801137768338,
|
| 370 |
+
1628.2148930522785,
|
| 371 |
+
35.30811446610947
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -9.43689570931383e-15
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1043.4801137768338,
|
| 383 |
+
1628.2148930522785,
|
| 384 |
+
32.30811446610947
|
| 385 |
+
],
|
| 386 |
+
"type": "down",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -9.43689570931383e-15
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1043.4801137768338,
|
| 396 |
+
1628.2148930522785,
|
| 397 |
+
29.308114466109473
|
| 398 |
+
],
|
| 399 |
+
"type": "down",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -9.43689570931383e-15
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1043.4801137768338,
|
| 409 |
+
1628.2148930522785,
|
| 410 |
+
26.308114466109473
|
| 411 |
+
],
|
| 412 |
+
"type": "down",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -9.43689570931383e-15
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1043.4801137768338,
|
| 422 |
+
1628.2148930522785,
|
| 423 |
+
23.308114466109473
|
| 424 |
+
],
|
| 425 |
+
"type": "down",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -9.43689570931383e-15
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"aim_landmark": {
|
| 432 |
+
"color": "test",
|
| 433 |
+
"feature": "test",
|
| 434 |
+
"position": [
|
| 435 |
+
-1016.0,
|
| 436 |
+
1632.0,
|
| 437 |
+
92.3995
|
| 438 |
+
],
|
| 439 |
+
"shape": "test",
|
| 440 |
+
"dir": "center",
|
| 441 |
+
"size": "test",
|
| 442 |
+
"type": "building"
|
| 443 |
+
}
|
| 444 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-41-18_2086206725/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
394.0875135373064,
|
| 6 |
+
-1028.467100218225,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
394.0875135373064,
|
| 19 |
+
-1028.467100218225,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
394.0875135373064,
|
| 32 |
+
-1028.467100218225,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
394.0875135373064,
|
| 45 |
+
-1028.467100218225,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
394.0875135373064,
|
| 58 |
+
-1028.467100218225,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
394.0875135373064,
|
| 71 |
+
-1025.467100218225,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
394.0875135373064,
|
| 84 |
+
-1022.4671002182249,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
394.0875135373064,
|
| 97 |
+
-1019.4671002182249,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
394.0875135373064,
|
| 110 |
+
-1016.4671002182249,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
394.0875135373064,
|
| 123 |
+
-1013.4671002182249,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
394.0875135373064,
|
| 136 |
+
-1010.4671002182249,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
394.0875135373064,
|
| 149 |
+
-1007.4671002182249,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
394.0875135373064,
|
| 162 |
+
-1004.4671002182249,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
394.0875135373064,
|
| 175 |
+
-1001.4671002182249,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
394.0875135373064,
|
| 188 |
+
-998.4671002182249,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": 1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
394.0875135373064,
|
| 201 |
+
-998.4671002182249,
|
| 202 |
+
32.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "down",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
394.0875135373064,
|
| 214 |
+
-998.4671002182249,
|
| 215 |
+
29.308114466109473
|
| 216 |
+
],
|
| 217 |
+
"type": "down",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
394.0875135373064,
|
| 227 |
+
-998.4671002182249,
|
| 228 |
+
26.308114466109473
|
| 229 |
+
],
|
| 230 |
+
"type": "down",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
394.0875135373064,
|
| 240 |
+
-998.4671002182249,
|
| 241 |
+
23.308114466109473
|
| 242 |
+
],
|
| 243 |
+
"type": "down",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
392.0,
|
| 254 |
+
-968.0,
|
| 255 |
+
143.522
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_1-47-20_1450573622/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-341.82207465544667,
|
| 6 |
+
-1533.574285703344,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-341.82207465544667,
|
| 19 |
+
-1533.574285703344,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-341.82207465544667,
|
| 32 |
+
-1533.574285703344,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-341.82207465544667,
|
| 45 |
+
-1533.574285703344,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-341.82207465544667,
|
| 58 |
+
-1533.574285703344,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-338.82207465544667,
|
| 71 |
+
-1533.574285703344,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-335.82207465544667,
|
| 84 |
+
-1533.574285703344,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-332.82207465544667,
|
| 97 |
+
-1533.574285703344,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-329.82207465544667,
|
| 110 |
+
-1533.574285703344,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-326.82207465544667,
|
| 123 |
+
-1533.574285703344,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-323.82207465544667,
|
| 136 |
+
-1533.574285703344,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-320.82207465544667,
|
| 149 |
+
-1533.574285703344,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-317.82207465544667,
|
| 162 |
+
-1533.574285703344,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-314.82207465544667,
|
| 175 |
+
-1533.574285703344,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-311.82207465544667,
|
| 188 |
+
-1533.574285703344,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-308.82207465544667,
|
| 201 |
+
-1533.574285703344,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-305.82207465544667,
|
| 214 |
+
-1533.574285703344,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-302.82207465544667,
|
| 227 |
+
-1533.574285703344,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-302.82207465544667,
|
| 240 |
+
-1533.574285703344,
|
| 241 |
+
32.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "down",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-302.82207465544667,
|
| 253 |
+
-1533.574285703344,
|
| 254 |
+
29.308114466109473
|
| 255 |
+
],
|
| 256 |
+
"type": "down",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-302.82207465544667,
|
| 266 |
+
-1533.574285703344,
|
| 267 |
+
26.308114466109473
|
| 268 |
+
],
|
| 269 |
+
"type": "down",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.0
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-302.82207465544667,
|
| 279 |
+
-1533.574285703344,
|
| 280 |
+
23.308114466109473
|
| 281 |
+
],
|
| 282 |
+
"type": "down",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.0
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
-280.0,
|
| 293 |
+
-1536.0,
|
| 294 |
+
93.6458
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "center",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_10-59-45_1752143421/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-983.8246313163406,
|
| 6 |
+
1534.758322767523,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-983.8246313163406,
|
| 19 |
+
1534.758322767523,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-983.8246313163406,
|
| 32 |
+
1534.758322767523,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-983.8246313163406,
|
| 45 |
+
1534.758322767523,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-983.8246313163406,
|
| 58 |
+
1534.758322767523,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-985.3246313163406,
|
| 71 |
+
1537.3563989788763,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-986.8246313163406,
|
| 84 |
+
1539.9544751902297,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-988.3246313163406,
|
| 97 |
+
1542.552551401583,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-989.8246313163406,
|
| 110 |
+
1545.1506276129364,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-991.3246313163406,
|
| 123 |
+
1547.7487038242898,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-992.8246313163406,
|
| 136 |
+
1550.3467800356432,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-994.3246313163406,
|
| 149 |
+
1552.9448562469966,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-995.8246313163406,
|
| 162 |
+
1555.54293245835,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-997.3246313163406,
|
| 175 |
+
1558.1410086697033,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-998.8246313163406,
|
| 188 |
+
1560.7390848810567,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1000.3246313163406,
|
| 201 |
+
1563.33716109241,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1001.8246313163406,
|
| 214 |
+
1565.9352373037634,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1003.3246313163406,
|
| 227 |
+
1568.5333135151168,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1004.8246313163406,
|
| 240 |
+
1571.1313897264702,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1006.3246313163406,
|
| 253 |
+
1573.7294659378235,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1007.8246313163406,
|
| 266 |
+
1576.327542149177,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1009.3246313163406,
|
| 279 |
+
1578.9256183605303,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1010.8246313163406,
|
| 292 |
+
1581.5236945718837,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1012.3246313163406,
|
| 305 |
+
1584.121770783237,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": 2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1012.3246313163406,
|
| 318 |
+
1584.121770783237,
|
| 319 |
+
32.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "down",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1012.3246313163406,
|
| 331 |
+
1584.121770783237,
|
| 332 |
+
29.308114466109473
|
| 333 |
+
],
|
| 334 |
+
"type": "down",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 2.094395102393186
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1012.3246313163406,
|
| 344 |
+
1584.121770783237,
|
| 345 |
+
26.308114466109473
|
| 346 |
+
],
|
| 347 |
+
"type": "down",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 2.094395102393186
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1012.3246313163406,
|
| 357 |
+
1584.121770783237,
|
| 358 |
+
23.308114466109473
|
| 359 |
+
],
|
| 360 |
+
"type": "down",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 2.094395102393186
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-1032.0,
|
| 371 |
+
1620.0,
|
| 372 |
+
102.189
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_11-5-8_1566586128/pose.jsonl
ADDED
|
@@ -0,0 +1,197 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1781.6015930240774,
|
| 6 |
+
873.4161482386895,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1781.6015930240774,
|
| 19 |
+
873.4161482386895,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1781.6015930240774,
|
| 32 |
+
873.4161482386895,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1781.6015930240774,
|
| 45 |
+
873.4161482386895,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1781.6015930240774,
|
| 58 |
+
873.4161482386895,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1784.6015930240774,
|
| 71 |
+
873.4161482386895,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1787.6015930240774,
|
| 84 |
+
873.4161482386895,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1790.6015930240774,
|
| 97 |
+
873.4161482386895,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1793.6015930240774,
|
| 110 |
+
873.4161482386895,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1796.6015930240774,
|
| 123 |
+
873.4161482386895,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "stop",
|
| 127 |
+
"value": 0,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1796.6015930240774,
|
| 136 |
+
873.4161482386895,
|
| 137 |
+
32.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "down",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1796.6015930240774,
|
| 149 |
+
873.4161482386895,
|
| 150 |
+
29.308114466109473
|
| 151 |
+
],
|
| 152 |
+
"type": "down",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1796.6015930240774,
|
| 162 |
+
873.4161482386895,
|
| 163 |
+
26.308114466109473
|
| 164 |
+
],
|
| 165 |
+
"type": "down",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1796.6015930240774,
|
| 175 |
+
873.4161482386895,
|
| 176 |
+
23.308114466109473
|
| 177 |
+
],
|
| 178 |
+
"type": "down",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"aim_landmark": {
|
| 185 |
+
"color": "test",
|
| 186 |
+
"feature": "test",
|
| 187 |
+
"position": [
|
| 188 |
+
1868.0,
|
| 189 |
+
868.0,
|
| 190 |
+
57.4888
|
| 191 |
+
],
|
| 192 |
+
"shape": "test",
|
| 193 |
+
"dir": "center",
|
| 194 |
+
"size": "test",
|
| 195 |
+
"type": "building"
|
| 196 |
+
}
|
| 197 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_11-8-48_1113331867/pose.jsonl
ADDED
|
@@ -0,0 +1,457 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
748.9077941273307,
|
| 6 |
+
-300.9566575951206,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
748.9077941273307,
|
| 19 |
+
-300.9566575951206,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
748.9077941273307,
|
| 32 |
+
-300.9566575951206,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
748.9077941273307,
|
| 45 |
+
-300.9566575951206,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
748.9077941273307,
|
| 58 |
+
-300.9566575951206,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
747.4077941273307,
|
| 71 |
+
-303.5547338064739,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
745.9077941273307,
|
| 84 |
+
-306.1528100178272,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
744.4077941273307,
|
| 97 |
+
-308.75088622918054,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
742.9077941273307,
|
| 110 |
+
-311.34896244053385,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
741.4077941273307,
|
| 123 |
+
-313.94703865188717,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
739.9077941273307,
|
| 136 |
+
-316.5451148632405,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
738.4077941273307,
|
| 149 |
+
-319.1431910745938,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
736.9077941273307,
|
| 162 |
+
-321.7412672859471,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
735.4077941273307,
|
| 175 |
+
-324.33934349730043,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
733.9077941273307,
|
| 188 |
+
-326.93741970865375,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
732.4077941273307,
|
| 201 |
+
-329.53549592000707,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
730.9077941273307,
|
| 214 |
+
-332.1335721313604,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
729.4077941273307,
|
| 227 |
+
-334.7316483427137,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
727.9077941273307,
|
| 240 |
+
-337.329724554067,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
726.4077941273307,
|
| 253 |
+
-339.92780076542033,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
724.9077941273307,
|
| 266 |
+
-342.52587697677365,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.0943951023931953
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
723.4077941273307,
|
| 279 |
+
-345.12395318812696,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "turn right",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": -2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
723.4077941273307,
|
| 292 |
+
-345.12395318812696,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.617993877991494
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
720.8097179159774,
|
| 305 |
+
-346.62395318812696,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.617993877991485
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
718.2116417046241,
|
| 318 |
+
-348.12395318812696,
|
| 319 |
+
35.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
715.6135654932707,
|
| 331 |
+
-349.62395318812696,
|
| 332 |
+
35.30811446610947
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
713.0154892819173,
|
| 344 |
+
-351.12395318812696,
|
| 345 |
+
35.30811446610947
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
710.417413070564,
|
| 357 |
+
-352.62395318812696,
|
| 358 |
+
35.30811446610947
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.6179938779915037
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
707.8193368592106,
|
| 370 |
+
-354.12395318812696,
|
| 371 |
+
35.30811446610947
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.6179938779915037
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
705.2212606478572,
|
| 383 |
+
-355.62395318812696,
|
| 384 |
+
35.30811446610947
|
| 385 |
+
],
|
| 386 |
+
"type": "stop",
|
| 387 |
+
"value": 0,
|
| 388 |
+
"yaw": -2.6179938779915037
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
705.2212606478572,
|
| 396 |
+
-355.62395318812696,
|
| 397 |
+
32.30811446610947
|
| 398 |
+
],
|
| 399 |
+
"type": "down",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.6179938779915037
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
705.2212606478572,
|
| 409 |
+
-355.62395318812696,
|
| 410 |
+
29.308114466109473
|
| 411 |
+
],
|
| 412 |
+
"type": "down",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.6179938779915037
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
705.2212606478572,
|
| 422 |
+
-355.62395318812696,
|
| 423 |
+
26.308114466109473
|
| 424 |
+
],
|
| 425 |
+
"type": "down",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -2.6179938779915037
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
705.2212606478572,
|
| 435 |
+
-355.62395318812696,
|
| 436 |
+
23.308114466109473
|
| 437 |
+
],
|
| 438 |
+
"type": "down",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -2.6179938779915037
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"aim_landmark": {
|
| 445 |
+
"color": "test",
|
| 446 |
+
"feature": "test",
|
| 447 |
+
"position": [
|
| 448 |
+
688.0,
|
| 449 |
+
-372.0,
|
| 450 |
+
45.4807
|
| 451 |
+
],
|
| 452 |
+
"shape": "test",
|
| 453 |
+
"dir": "center",
|
| 454 |
+
"size": "test",
|
| 455 |
+
"type": "building"
|
| 456 |
+
}
|
| 457 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_4-55-42_1003886059/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
351.75890178213876,
|
| 6 |
+
789.1907219215404,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
351.75890178213876,
|
| 19 |
+
789.1907219215404,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
351.75890178213876,
|
| 32 |
+
789.1907219215404,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
351.75890178213876,
|
| 45 |
+
789.1907219215404,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
351.75890178213876,
|
| 58 |
+
789.1907219215404,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
353.25890178213876,
|
| 71 |
+
786.5926457101871,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
354.75890178213876,
|
| 84 |
+
783.9945694988337,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
356.25890178213876,
|
| 97 |
+
781.3964932874803,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
357.75890178213876,
|
| 110 |
+
778.798417076127,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
359.25890178213876,
|
| 123 |
+
776.2003408647736,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
360.75890178213876,
|
| 136 |
+
773.6022646534202,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
362.25890178213876,
|
| 149 |
+
771.0041884420668,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
363.75890178213876,
|
| 162 |
+
768.4061122307135,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
365.25890178213876,
|
| 175 |
+
765.8080360193601,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
366.75890178213876,
|
| 188 |
+
763.2099598080067,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
368.25890178213876,
|
| 201 |
+
760.6118835966533,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
368.25890178213876,
|
| 214 |
+
760.6118835966533,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755983084
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
370.8569779934921,
|
| 227 |
+
759.1118835966533,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
373.4550542048454,
|
| 240 |
+
757.6118835966533,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
376.0531304161987,
|
| 253 |
+
756.1118835966533,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
378.651206627552,
|
| 266 |
+
754.6118835966533,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
381.24928283890534,
|
| 279 |
+
753.1118835966533,
|
| 280 |
+
35.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
383.84735905025866,
|
| 292 |
+
751.6118835966533,
|
| 293 |
+
35.30811446610947
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
386.445435261612,
|
| 305 |
+
750.1118835966533,
|
| 306 |
+
35.30811446610947
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": -0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
386.445435261612,
|
| 318 |
+
750.1118835966533,
|
| 319 |
+
32.30811446610947
|
| 320 |
+
],
|
| 321 |
+
"type": "down",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
386.445435261612,
|
| 331 |
+
750.1118835966533,
|
| 332 |
+
29.308114466109473
|
| 333 |
+
],
|
| 334 |
+
"type": "down",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -0.5235987755982988
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
386.445435261612,
|
| 344 |
+
750.1118835966533,
|
| 345 |
+
26.308114466109473
|
| 346 |
+
],
|
| 347 |
+
"type": "down",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -0.5235987755982988
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
386.445435261612,
|
| 357 |
+
750.1118835966533,
|
| 358 |
+
23.308114466109473
|
| 359 |
+
],
|
| 360 |
+
"type": "down",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -0.5235987755982988
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
400.0,
|
| 371 |
+
736.0,
|
| 372 |
+
172.46
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_4-8-21_1605539862/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
575.9083908925626,
|
| 6 |
+
984.3575729146042,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
575.9083908925626,
|
| 19 |
+
984.3575729146042,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
575.9083908925626,
|
| 32 |
+
984.3575729146042,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
575.9083908925626,
|
| 45 |
+
984.3575729146042,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
575.9083908925626,
|
| 58 |
+
984.3575729146042,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
575.9083908925626,
|
| 71 |
+
981.3575729146042,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
575.9083908925626,
|
| 84 |
+
978.3575729146042,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
575.9083908925626,
|
| 97 |
+
975.3575729146042,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
575.9083908925626,
|
| 110 |
+
972.3575729146042,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
575.9083908925626,
|
| 123 |
+
969.3575729146042,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
575.9083908925626,
|
| 136 |
+
966.3575729146042,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
575.9083908925626,
|
| 149 |
+
966.3575729146042,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
574.4083908925626,
|
| 162 |
+
963.759496703251,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393205
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
572.9083908925626,
|
| 175 |
+
961.1614204918976,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
571.4083908925626,
|
| 188 |
+
958.5633442805442,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
569.9083908925626,
|
| 201 |
+
955.9652680691909,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
568.4083908925626,
|
| 214 |
+
953.3671918578375,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
566.9083908925626,
|
| 227 |
+
950.7691156464841,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
565.4083908925626,
|
| 240 |
+
948.1710394351308,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
565.4083908925626,
|
| 253 |
+
948.1710394351308,
|
| 254 |
+
32.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "down",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
565.4083908925626,
|
| 266 |
+
948.1710394351308,
|
| 267 |
+
29.308114466109473
|
| 268 |
+
],
|
| 269 |
+
"type": "down",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
565.4083908925626,
|
| 279 |
+
948.1710394351308,
|
| 280 |
+
26.308114466109473
|
| 281 |
+
],
|
| 282 |
+
"type": "down",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
565.4083908925626,
|
| 292 |
+
948.1710394351308,
|
| 293 |
+
23.308114466109473
|
| 294 |
+
],
|
| 295 |
+
"type": "down",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
560.0,
|
| 306 |
+
920.0,
|
| 307 |
+
216.131
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_5-49-51_1351538839/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1065.7780432113518,
|
| 6 |
+
490.148943156102,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1065.7780432113518,
|
| 19 |
+
490.148943156102,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1065.7780432113518,
|
| 32 |
+
490.148943156102,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1065.7780432113518,
|
| 45 |
+
490.148943156102,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1065.7780432113518,
|
| 58 |
+
490.148943156102,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1064.2780432113518,
|
| 71 |
+
492.7470193674553,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1062.7780432113518,
|
| 84 |
+
495.34509557880864,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1061.2780432113518,
|
| 97 |
+
497.94317179016195,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1059.7780432113518,
|
| 110 |
+
500.54124800151527,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1058.2780432113518,
|
| 123 |
+
503.1393242128686,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1056.7780432113518,
|
| 136 |
+
505.7374004242219,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1055.2780432113518,
|
| 149 |
+
508.3354766355752,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1053.7780432113518,
|
| 162 |
+
510.93355284692854,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1052.2780432113518,
|
| 175 |
+
513.5316290582819,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1050.7780432113518,
|
| 188 |
+
516.1297052696352,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1049.2780432113518,
|
| 201 |
+
518.7277814809886,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1047.7780432113518,
|
| 214 |
+
521.325857692342,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1047.7780432113518,
|
| 227 |
+
521.325857692342,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948872
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1047.7780432113518,
|
| 240 |
+
524.325857692342,
|
| 241 |
+
35.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1047.7780432113518,
|
| 253 |
+
527.325857692342,
|
| 254 |
+
35.30811446610947
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1047.7780432113518,
|
| 266 |
+
530.325857692342,
|
| 267 |
+
35.30811446610947
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1047.7780432113518,
|
| 279 |
+
530.325857692342,
|
| 280 |
+
32.30811446610947
|
| 281 |
+
],
|
| 282 |
+
"type": "down",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1047.7780432113518,
|
| 292 |
+
530.325857692342,
|
| 293 |
+
29.308114466109473
|
| 294 |
+
],
|
| 295 |
+
"type": "down",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1047.7780432113518,
|
| 305 |
+
530.325857692342,
|
| 306 |
+
26.308114466109473
|
| 307 |
+
],
|
| 308 |
+
"type": "down",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1047.7780432113518,
|
| 318 |
+
530.325857692342,
|
| 319 |
+
23.308114466109473
|
| 320 |
+
],
|
| 321 |
+
"type": "down",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
1040.0,
|
| 332 |
+
556.0,
|
| 333 |
+
68.1916
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-1-14_6-21-37_202550399/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
30.100116020024718,
|
| 6 |
+
638.9240468407174,
|
| 7 |
+
23.308114466109473
|
| 8 |
+
],
|
| 9 |
+
"type": "up",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
30.100116020024718,
|
| 19 |
+
638.9240468407174,
|
| 20 |
+
26.308114466109473
|
| 21 |
+
],
|
| 22 |
+
"type": "up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
30.100116020024718,
|
| 32 |
+
638.9240468407174,
|
| 33 |
+
29.308114466109473
|
| 34 |
+
],
|
| 35 |
+
"type": "up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
30.100116020024718,
|
| 45 |
+
638.9240468407174,
|
| 46 |
+
32.30811446610947
|
| 47 |
+
],
|
| 48 |
+
"type": "up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
30.100116020024718,
|
| 58 |
+
638.9240468407174,
|
| 59 |
+
35.30811446610947
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
30.100116020024718,
|
| 71 |
+
635.9240468407174,
|
| 72 |
+
35.30811446610947
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
30.100116020024718,
|
| 84 |
+
632.9240468407174,
|
| 85 |
+
35.30811446610947
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
30.100116020024718,
|
| 97 |
+
629.9240468407174,
|
| 98 |
+
35.30811446610947
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
30.100116020024718,
|
| 110 |
+
626.9240468407174,
|
| 111 |
+
35.30811446610947
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
30.100116020024718,
|
| 123 |
+
623.9240468407174,
|
| 124 |
+
35.30811446610947
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
30.100116020024718,
|
| 136 |
+
620.9240468407174,
|
| 137 |
+
35.30811446610947
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
30.100116020024718,
|
| 149 |
+
617.9240468407174,
|
| 150 |
+
35.30811446610947
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
30.100116020024718,
|
| 162 |
+
614.9240468407174,
|
| 163 |
+
35.30811446610947
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
30.100116020024718,
|
| 175 |
+
611.9240468407174,
|
| 176 |
+
35.30811446610947
|
| 177 |
+
],
|
| 178 |
+
"type": "turn left",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
30.100116020024718,
|
| 188 |
+
611.9240468407174,
|
| 189 |
+
35.30811446610947
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
31.600116020024718,
|
| 201 |
+
609.3259706293641,
|
| 202 |
+
35.30811446610947
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
33.10011602002472,
|
| 214 |
+
606.7278944180107,
|
| 215 |
+
35.30811446610947
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511966063
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
34.60011602002472,
|
| 227 |
+
604.1298182066573,
|
| 228 |
+
35.30811446610947
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -1.0471975511966063
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
34.60011602002472,
|
| 240 |
+
604.1298182066573,
|
| 241 |
+
32.30811446610947
|
| 242 |
+
],
|
| 243 |
+
"type": "down",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511966063
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
34.60011602002472,
|
| 253 |
+
604.1298182066573,
|
| 254 |
+
29.308114466109473
|
| 255 |
+
],
|
| 256 |
+
"type": "down",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511966063
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
34.60011602002472,
|
| 266 |
+
604.1298182066573,
|
| 267 |
+
26.308114466109473
|
| 268 |
+
],
|
| 269 |
+
"type": "down",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511966063
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
34.60011602002472,
|
| 279 |
+
604.1298182066573,
|
| 280 |
+
23.308114466109473
|
| 281 |
+
],
|
| 282 |
+
"type": "down",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511966063
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
36.0,
|
| 293 |
+
576.0,
|
| 294 |
+
235.275
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "right",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|