diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_11-56-55_783368690/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_11-56-55_783368690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba6c11cce0e795ae5c26223fc420ddbd5a2d65d0 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_11-56-55_783368690/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 282.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 288.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 294.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 300.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 312.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 315.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 318.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 321.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 324.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 327.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 327.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 327.36034526899385, + -515.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 327.36034526899385, + -512.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.36034526899385, + -509.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 327.36034526899385, + -506.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 327.36034526899385, + -503.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.36034526899385, + -500.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 327.36034526899385, + -497.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 327.36034526899385, + -494.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 327.36034526899385, + -491.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 327.36034526899385, + -488.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.36034526899385, + -485.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 327.36034526899385, + -482.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 327.36034526899385, + -479.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 327.36034526899385, + -476.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 327.36034526899385, + -473.9549524719147, + -3.5163163519859486 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.36034526899385, + -473.9549524719147, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 328.86034526899385, + -471.35687626056136, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 330.36034526899385, + -468.75880004920805, + -3.5163163519859486 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 331.86034526899385, + -466.16072383785473, + -3.5163163519859486 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_12-10-51_1125898167/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-10-51_1125898167/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eb16a5ebdd85c6f7bc86be337d3047827363399 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-10-51_1125898167/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 153.92415439382012, + -366.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 151.3260781824668, + -365.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.72800197111349, + -363.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.12992575976017, + -362.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 143.53184954840685, + -360.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 140.93377333705354, + -359.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 138.33569712570022, + -357.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 135.7376209143469, + -356.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 133.1395447029936, + -354.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 130.54146849164027, + -353.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.94339228028696, + -351.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 125.34531606893364, + -350.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 122.74723985758033, + -348.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 120.14916364622701, + -347.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 117.5510874348737, + -345.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 114.95301122352038, + -344.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.35493501216706, + -342.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 109.75685880081375, + -341.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 107.15878258946043, + -339.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 104.56070637810711, + -338.06125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 101.9626301667538, + -336.56125581531035, + 2.7463314088877686 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 101.9626301667538, + -336.56125581531035, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 100.4626301667538, + -333.96317960395703, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 98.9626301667538, + -331.3651033926037, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 97.4626301667538, + -328.7670271812504, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 95.9626301667538, + -326.1689509698971, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 94.4626301667538, + -323.57087475854377, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 92.9626301667538, + -320.97279854719045, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 91.4626301667538, + -318.37472233583713, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 89.9626301667538, + -315.7766461244838, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 88.4626301667538, + -313.1785699131305, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 86.9626301667538, + -310.5804937017772, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 85.4626301667538, + -307.98241749042387, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 83.9626301667538, + -305.38434127907055, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 82.4626301667538, + -302.78626506771724, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 80.9626301667538, + -300.1881888563639, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 79.4626301667538, + -297.5901126450106, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 77.9626301667538, + -294.9920364336573, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 76.4626301667538, + -292.393960222304, + 2.7463314088877686 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 76.4626301667538, + -292.393960222304, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 76.4626301667538, + -289.393960222304, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 76.4626301667538, + -286.393960222304, + 2.7463314088877686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 76.4626301667538, + -283.393960222304, + 2.7463314088877686 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_12-33-4_84353895/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-33-4_84353895/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f2af833752e6e6217cba86a21efc054155b1ff9 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-33-4_84353895/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 284.68430395354403, + -392.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 284.68430395354403, + -395.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.68430395354403, + -398.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 284.68430395354403, + -401.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.68430395354403, + -404.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 284.68430395354403, + -407.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.68430395354403, + -410.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.68430395354403, + -413.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 284.68430395354403, + -416.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.68430395354403, + -419.03667092169604, + 3.996964820297176 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 284.68430395354403, + -419.03667092169604, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 283.18430395354403, + -421.63474713304936, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 281.68430395354403, + -424.2328233444027, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 280.18430395354403, + -426.830899555756, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 278.68430395354403, + -429.4289757671093, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 277.18430395354403, + -432.0270519784626, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 275.68430395354403, + -434.62512818981594, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 274.18430395354403, + -437.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 274.18430395354403, + -437.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 274.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 274.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 274.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 274.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 274.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 277.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 280.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 283.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 286.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 286.18430395354403, + -440.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 288.78238016489735, + -441.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 291.38045637625066, + -443.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.978532587604, + -444.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 296.5766087989573, + -446.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.1746850103106, + -447.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 301.7727612216639, + -449.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 304.37083743301724, + -450.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.96891364437056, + -452.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 309.5669898557239, + -453.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 312.1650660670772, + -455.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 314.7631422784305, + -456.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 317.3612184897838, + -458.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 319.95929470113714, + -459.72320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 322.55737091249046, + -461.22320440116926, + 3.996964820297176 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 322.55737091249046, + -461.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 325.55737091249046, + -461.22320440116926, + 3.996964820297176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 328.55737091249046, + -461.22320440116926, + 3.996964820297176 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_12-40-59_1889947178/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-40-59_1889947178/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63fd10ba2f4761b888526a6093bcab695a73061d --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_12-40-59_1889947178/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 407.2261190201714, + -306.9259817631491, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.7261190201714, + -304.32790555179577, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.2261190201714, + -301.72982934044245, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.7261190201714, + -299.13175312908913, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.2261190201714, + -296.5336769177358, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.7261190201714, + -293.9356007063825, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 416.2261190201714, + -291.3375244950292, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 417.7261190201714, + -288.73944828367587, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.2261190201714, + -286.14137207232255, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.7261190201714, + -283.54329586096924, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 422.2261190201714, + -280.9452196496159, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.7261190201714, + -278.3471434382626, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 425.2261190201714, + -275.7490672269093, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 426.7261190201714, + -273.150991015556, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 428.2261190201714, + -270.55291480420266, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 429.7261190201714, + -267.95483859284934, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 431.2261190201714, + -265.356762381496, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 432.7261190201714, + -262.7586861701427, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 434.2261190201714, + -260.1606099587894, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.7261190201714, + -257.5625337474361, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 437.2261190201714, + -254.96445753608276, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.7261190201714, + -252.36638132472945, + 0.6716673434425227 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.7261190201714, + -252.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.7261190201714, + -249.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.7261190201714, + -246.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.7261190201714, + -243.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.7261190201714, + -240.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 438.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 438.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 438.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 438.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 435.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 432.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 429.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 426.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 423.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 420.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 417.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 414.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 411.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 408.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 405.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 402.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 399.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 396.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 393.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 390.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 387.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 384.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 381.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 381.7261190201714, + -237.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 379.12804280881807, + -235.86638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 376.52996659746475, + -234.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 373.93189038611143, + -232.86638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 371.3338141747581, + -231.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 368.7357379634048, + -229.86638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 366.1376617520515, + -228.36638132472945, + 0.6716673434425227 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 363.53958554069817, + -226.86638132472945, + 0.6716673434425227 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_14-16-40_87755422/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-16-40_87755422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdc4c818b002d37fec5b6f0f9e5e18f5fe892c10 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-16-40_87755422/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 371.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 362.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 353.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 350.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 347.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 341.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 341.3580036154518, + -450.7075990426958, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.8580036154518, + -453.3056752540491, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 338.3580036154518, + -455.9037514654024, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 336.8580036154518, + -458.50182767675574, + -2.266999280894364 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.8580036154518, + -458.50182767675574, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 334.2599274040985, + -460.00182767675574, + -2.266999280894364 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.2599274040985, + -460.00182767675574, + -2.266999280894364 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 334.2599274040985, + -460.00182767675574, + -2.266999280894364 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948963 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.2599274040985, + -460.00182767675574, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 335.7599274040985, + -462.59990388810905, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 337.2599274040985, + -465.19798009946237, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.7599274040985, + -467.7960563108157, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 340.2599274040985, + -470.394132522169, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 341.7599274040985, + -472.9922087335223, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 343.2599274040985, + -475.59028494487563, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 344.7599274040985, + -478.18836115622895, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 346.2599274040985, + -480.78643736758227, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 347.7599274040985, + -483.3845135789356, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 349.2599274040985, + -485.9825897902889, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 350.7599274040985, + -488.5806660016422, + -2.266999280894364 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 350.7599274040985, + -488.5806660016422, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 350.7599274040985, + -491.5806660016422, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 350.7599274040985, + -494.5806660016422, + -2.266999280894364 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 350.7599274040985, + -497.5806660016422, + -2.266999280894364 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_14-20-59_1346811305/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-20-59_1346811305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00982ec2a12e9db535ed37743f0caebbf2dd7c98 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-20-59_1346811305/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.53724076369906, + 389.821507083806, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 488.03724076369906, + 387.2234308724527, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 489.53724076369906, + 384.6253546610994, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 491.03724076369906, + 382.02727844974606, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 492.53724076369906, + 379.42920223839275, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 494.03724076369906, + 376.83112602703943, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 495.53724076369906, + 374.2330498156861, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 497.03724076369906, + 371.6349736043328, + 3.421972909893052 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.03724076369906, + 371.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.03724076369906, + 368.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.03724076369906, + 365.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.03724076369906, + 362.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 497.03724076369906, + 359.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 497.03724076369906, + 356.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.03724076369906, + 353.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.03724076369906, + 350.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.03724076369906, + 347.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.03724076369906, + 344.6349736043328, + 3.421972909893052 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.03724076369906, + 344.6349736043328, + 3.421972909893052 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 497.03724076369906, + 344.6349736043328, + 3.421972909893052 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.03724076369906, + 344.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 494.43916455234574, + 343.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 491.8410883409924, + 341.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 489.2430121296391, + 340.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 486.6449359182858, + 338.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 484.0468597069325, + 337.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 481.44878349557916, + 335.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 478.85070728422585, + 334.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.25263107287253, + 332.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.6545548615192, + 331.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 471.0564786501659, + 329.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 468.4584024388126, + 328.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 465.86032622745927, + 326.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 463.26225001610595, + 325.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 460.66417380475264, + 323.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 458.0660975933993, + 322.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 455.468021382046, + 320.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 452.8699451706927, + 319.1349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 450.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 450.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 447.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 444.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 441.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 438.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 435.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 432.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 429.2718689593394, + 317.6349736043328, + 3.421972909893052 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_14-27-11_559412924/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-27-11_559412924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a890a6e594596285d9bd0fadbdc92f3fc3ac907 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_14-27-11_559412924/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 466.3800146454719, + -286.3450461514118, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 464.8800146454719, + -283.7469699400585, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 463.3800146454719, + -281.14889372870516, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 461.8800146454719, + -278.55081751735185, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 460.3800146454719, + -275.95274130599853, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 458.8800146454719, + -273.3546650946452, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.3800146454719, + -270.7565888832919, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 455.8800146454719, + -268.1585126719386, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 454.3800146454719, + -265.56043646058527, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 452.8800146454719, + -262.96236024923195, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 451.3800146454719, + -260.36428403787863, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 449.8800146454719, + -257.7662078265253, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 448.3800146454719, + -255.168131615172, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 446.8800146454719, + -252.57005540381869, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 445.3800146454719, + -249.97197919246537, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 443.8800146454719, + -247.37390298111205, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 442.3800146454719, + -244.77582676975874, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 440.8800146454719, + -242.17775055840542, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 439.3800146454719, + -239.5796743470521, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 437.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 437.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 434.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 431.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 428.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 425.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 422.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 419.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 416.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 413.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 410.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 407.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 404.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 401.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 398.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 395.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 392.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 389.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 386.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 383.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 380.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 380.8800146454719, + -236.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 378.28193843411856, + -235.4815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 375.68386222276524, + -233.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 373.0857860114119, + -232.4815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 370.4877098000586, + -230.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 367.8896335887053, + -229.4815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 365.291557377352, + -227.9815981356988, + -2.7821431055458152 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 362.69348116599866, + -226.4815981356988, + -2.7821431055458152 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_15-12-6_324763920/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-12-6_324763920/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e1667f12fc904ee18b0b230224a17be87a529d3 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-12-6_324763920/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 302.55131914580295, + -545.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 305.14939535715627, + -544.4455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 307.7474715685096, + -542.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.3455477798629, + -541.4455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.9436239912162, + -539.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 315.54170020256953, + -538.4455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 318.13977641392285, + -536.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 320.73785262527616, + -535.4455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 323.3359288366295, + -533.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 325.9340050479828, + -532.4455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 328.5320812593361, + -530.9455909795842, + -2.789429451923249 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 328.5320812593361, + -530.9455909795842, + -2.789429451923249 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 328.5320812593361, + -530.9455909795842, + -2.789429451923249 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 328.5320812593361, + -530.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 328.5320812593361, + -527.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.5320812593361, + -524.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 328.5320812593361, + -521.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 328.5320812593361, + -518.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.5320812593361, + -515.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 328.5320812593361, + -512.9455909795842, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 328.5320812593361, + -509.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.5320812593361, + -506.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.5320812593361, + -503.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.5320812593361, + -500.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 328.5320812593361, + -497.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.5320812593361, + -494.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 328.5320812593361, + -491.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.5320812593361, + -488.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 328.5320812593361, + -485.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 328.5320812593361, + -482.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 328.5320812593361, + -479.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 328.5320812593361, + -476.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 328.5320812593361, + -473.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 328.5320812593361, + -470.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 328.5320812593361, + -467.94559097958415, + -2.789429451923249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 328.5320812593361, + -464.94559097958415, + -2.789429451923249 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_15-25-29_524688209/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-25-29_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6852648e17871cb7d6de296e79610c6655102f4c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-25-29_524688209/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 345.5431453856387, + -394.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 345.5431453856387, + -397.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 345.5431453856387, + -400.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 345.5431453856387, + -403.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 345.5431453856387, + -406.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 345.5431453856387, + -409.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.5431453856387, + -412.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 345.5431453856387, + -415.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 345.5431453856387, + -418.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 345.5431453856387, + -421.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.5431453856387, + -424.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.5431453856387, + -427.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 345.5431453856387, + -430.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 345.5431453856387, + -433.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.5431453856387, + -436.27056872082983, + 3.751244812250027 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 345.5431453856387, + -436.27056872082983, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 344.0431453856387, + -438.86864493218314, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.5431453856387, + -441.46672114353646, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 341.0431453856387, + -444.0647973548898, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 339.5431453856387, + -446.6628735662431, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.0431453856387, + -449.2609497775964, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 336.5431453856387, + -451.8590259889497, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 335.0431453856387, + -454.45710220030304, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 333.5431453856387, + -457.05517841165636, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.0431453856387, + -459.6532546230097, + 3.751244812250027 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 332.0431453856387, + -459.6532546230097, + 3.751244812250027 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 332.0431453856387, + -459.6532546230097, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.5431453856387, + -462.251330834363, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 335.0431453856387, + -464.8494070457163, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.5431453856387, + -467.4474832570696, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 338.0431453856387, + -470.04555946842294, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 339.5431453856387, + -472.64363567977625, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 341.0431453856387, + -475.24171189112957, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 342.5431453856387, + -477.8397881024829, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 344.0431453856387, + -480.4378643138362, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 345.5431453856387, + -483.0359405251895, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 347.0431453856387, + -485.63401673654283, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 348.5431453856387, + -488.23209294789615, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 350.0431453856387, + -490.83016915924946, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 351.5431453856387, + -493.4282453706028, + 3.751244812250027 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 353.0431453856387, + -496.0263215819561, + 3.751244812250027 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_15-32-17_630668850/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-32-17_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4d37e4eb39a11707aacb2d3029bc1080d0ab264 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-32-17_630668850/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 364.4997351069117, + 114.0624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 361.9016588955584, + 115.5624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 359.3035826842051, + 117.0624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 356.70550647285177, + 118.5624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 354.10743026149845, + 120.0624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 351.50935405014513, + 121.5624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.9112778387918, + 123.0624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 346.3132016274385, + 124.5624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 343.7151254160852, + 126.0624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 341.11704920473187, + 127.5624435332269, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 338.51897299337855, + 129.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914984 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 335.92089678202524, + 130.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 333.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 333.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 330.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 327.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 321.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 318.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 315.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 312.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 309.3228205706719, + 132.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 311.92089678202524, + 133.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 314.51897299337855, + 135.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 317.11704920473187, + 136.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 319.7151254160852, + 138.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 322.3132016274385, + 139.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 324.9112778387918, + 141.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 327.50935405014513, + 142.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 330.10743026149845, + 144.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 332.70550647285177, + 145.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 335.3035826842051, + 147.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 337.9016588955584, + 148.56244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 340.4997351069117, + 150.06244353322688, + 4.976666173687665 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 340.4997351069117, + 150.06244353322688, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 341.9997351069117, + 152.6605197445802, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 343.4997351069117, + 155.25859595593352, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 344.9997351069117, + 157.85667216728683, + 4.976666173687665 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 346.4997351069117, + 160.45474837864015, + 4.976666173687665 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_15-37-39_1017679567/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-37-39_1017679567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..995366ee2e8cd6721a0f595f7ab61979286143c0 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_15-37-39_1017679567/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 284.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 287.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 290.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 296.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.36013796282117, + 131.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.9582141741745, + 133.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 301.5562903855278, + 134.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 304.1543665968811, + 136.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 306.75244280823443, + 137.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.35051901958775, + 139.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 311.94859523094107, + 140.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 314.5466714422944, + 142.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 317.1447476536477, + 143.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 319.742823865001, + 145.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.34090007635433, + 146.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.93897628770765, + 148.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 327.53705249906096, + 149.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 330.1351287104143, + 151.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 332.7332049217676, + 152.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 335.3312811331209, + 154.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 337.9293573444742, + 155.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 340.52743355582754, + 157.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 343.12550976718086, + 158.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 345.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 342.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 339.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 336.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 333.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 330.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 327.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 324.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 321.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 318.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 315.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 306.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 303.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 300.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 300.7235859785342, + 160.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 298.12550976718086, + 161.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 295.52743355582754, + 163.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 292.9293573444742, + 164.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 290.3312811331209, + 166.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 287.7332049217676, + 167.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 285.1351287104143, + 169.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 282.53705249906096, + 170.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 279.93897628770765, + 172.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 277.34090007635433, + 173.91921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 274.742823865001, + 175.41921197320204, + -1.1383153494638547 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 272.1447476536477, + 176.91921197320204, + -1.1383153494638547 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.87510986328124, + 176.57235107421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_16-33-19_2416949/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-33-19_2416949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4dcf2854825533ab318d5b6ec3cbc026f1a0b17 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-33-19_2416949/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.58979759578, + 125.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 365.9917213844267, + 123.75821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 363.39364517307337, + 122.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.79556896172005, + 120.75821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 358.19749275036673, + 119.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.5994165390134, + 117.75821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 353.0013403276601, + 116.25821062397483, + 1.6023503428233514 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 353.0013403276601, + 116.25821062397483, + 1.6023503428233514 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 353.0013403276601, + 116.25821062397483, + 1.6023503428233514 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 353.0013403276601, + 116.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 353.0013403276601, + 113.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 353.0013403276601, + 110.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 353.0013403276601, + 107.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 353.0013403276601, + 104.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 353.0013403276601, + 101.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 353.0013403276601, + 98.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 353.0013403276601, + 95.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.0013403276601, + 92.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 353.0013403276601, + 89.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 353.0013403276601, + 86.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 353.0013403276601, + 83.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 353.0013403276601, + 80.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.0013403276601, + 77.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 353.0013403276601, + 74.25821062397483, + 1.6023503428233514 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 353.0013403276601, + 74.25821062397483, + 1.6023503428233514 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.0013403276601, + 74.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 350.4032641163068, + 72.75821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 347.80518790495347, + 71.25821062397483, + 1.6023503428233514 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 345.20711169360015, + 69.75821062397483, + 1.6023503428233514 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_16-49-19_2002495425/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-49-19_2002495425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47cb4c716e8292d6e56cfb08be75adc963f93227 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-49-19_2002495425/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 330.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 327.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 324.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 321.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 318.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 315.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 312.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 309.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 294.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 294.5416141844817, + -432.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 291.9435379731284, + -433.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 289.3454617617751, + -435.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 286.74738555042177, + -436.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 284.14930933906845, + -438.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 281.55123312771514, + -439.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.9531569163618, + -441.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 276.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 279.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 282.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 285.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 288.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 291.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 300.3550807050085, + -442.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 302.9531569163618, + -444.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.55123312771514, + -445.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 308.14930933906845, + -447.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 310.74738555042177, + -448.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 313.3454617617751, + -450.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 315.9435379731284, + -451.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 318.5416141844817, + -453.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 321.13969039583503, + -454.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 323.73776660718835, + -456.3953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 326.33584281854166, + -457.8953353787475, + -4.194223492422493 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 328.933919029895, + -459.3953353787475, + -4.194223492422493 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_16-7-29_1448703729/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-7-29_1448703729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4c00822a84b081194e56d6bfb9b8379b9ba87b3 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_16-7-29_1448703729/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.7067019331001, + 198.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.7067019331001, + 195.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.7067019331001, + 192.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 279.7067019331001, + 189.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.7067019331001, + 186.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 279.7067019331001, + 183.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 279.7067019331001, + 180.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 279.7067019331001, + 177.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 279.7067019331001, + 174.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 279.7067019331001, + 171.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 279.7067019331001, + 168.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 279.7067019331001, + 165.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 279.7067019331001, + 162.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 279.7067019331001, + 159.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 279.7067019331001, + 156.9904984100109, + 0.35622025924735734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 279.7067019331001, + 156.9904984100109, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 281.2067019331001, + 154.39242219865758, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 282.7067019331001, + 151.79434598730427, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 284.2067019331001, + 149.19626977595095, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.7067019331001, + 146.59819356459764, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 287.2067019331001, + 144.00011735324432, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 288.7067019331001, + 141.402041141891, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 290.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 290.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 290.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 290.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 293.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 296.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 299.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 302.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.2067019331001, + 138.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 304.8047781444534, + 140.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 307.4028543558067, + 141.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 310.00093056716, + 143.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.59900677851334, + 144.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 315.19708298986666, + 146.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 317.79515920122, + 147.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 320.3932354125733, + 149.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 322.9913116239266, + 150.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 325.5893878352799, + 152.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 328.18746404663324, + 153.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 330.78554025798655, + 155.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 333.38361646933987, + 156.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 335.9816926806932, + 158.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 338.5797688920465, + 159.8039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 341.1778451033998, + 161.3039649305377, + 0.35622025924735734 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 343.77592131475313, + 162.8039649305377, + 0.35622025924735734 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_17-26-53_1983228458/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-26-53_1983228458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fad2339312279d66223924103978b5d39f27a196 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-26-53_1983228458/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 414.04766848564793, + -202.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 416.64574469700125, + -201.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 419.24382090835456, + -199.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 421.8418971197079, + -198.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 424.4399733310612, + -196.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 427.0380495424145, + -195.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 429.63612575376783, + -193.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 432.23420196512114, + -192.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 434.83227817647446, + -190.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 437.4303543878278, + -189.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 440.0284305991811, + -187.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 442.6265068105344, + -186.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 445.2245830218877, + -184.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 447.82265923324104, + -183.32274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 450.42073544459436, + -181.82274040649696, + -0.20277536041454614 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.42073544459436, + -181.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 451.92073544459436, + -179.22466419514365, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 453.42073544459436, + -176.62658798379033, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 454.92073544459436, + -174.028511772437, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 456.42073544459436, + -171.4304355610837, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 457.92073544459436, + -168.83235934973038, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 459.42073544459436, + -166.23428313837707, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 460.92073544459436, + -163.63620692702375, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 462.42073544459436, + -161.03813071567043, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 460.92073544459436, + -163.63620692702375, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 459.42073544459436, + -166.23428313837707, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.92073544459436, + -168.83235934973038, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 456.42073544459436, + -171.4304355610837, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 454.92073544459436, + -174.028511772437, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 453.42073544459436, + -176.62658798379033, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 451.92073544459436, + -179.22466419514365, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 450.42073544459436, + -181.82274040649696, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 448.92073544459436, + -184.42081661785028, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 447.42073544459436, + -187.0188928292036, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 445.92073544459436, + -189.6169690405569, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 444.42073544459436, + -192.21504525191023, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 442.92073544459436, + -194.81312146326354, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 441.42073544459436, + -197.41119767461686, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 439.92073544459436, + -200.00927388597017, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 438.42073544459436, + -202.6073500973235, + -0.20277536041454614 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 438.42073544459436, + -202.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 438.42073544459436, + -205.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 438.42073544459436, + -208.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 438.42073544459436, + -211.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 438.42073544459436, + -214.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 438.42073544459436, + -217.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 438.42073544459436, + -220.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 438.42073544459436, + -223.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 438.42073544459436, + -226.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 438.42073544459436, + -229.6073500973235, + -0.20277536041454614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 438.42073544459436, + -232.6073500973235, + -0.20277536041454614 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_17-53-2_1280631491/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-53-2_1280631491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4fca94672dc2f47525d510438feb088e481ad44 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-53-2_1280631491/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.4065869455535, + -295.8628826310102, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.9065869455535, + -293.2648064196569, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.4065869455535, + -290.6667302083036, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.9065869455535, + -288.0686539969503, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 401.4065869455535, + -285.47057778559696, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 402.9065869455535, + -282.87250157424364, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 404.4065869455535, + -280.2744253628903, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.9065869455535, + -277.676349151537, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.4065869455535, + -275.0782729401837, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.9065869455535, + -272.4801967288304, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 410.4065869455535, + -269.88212051747706, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 411.9065869455535, + -267.28404430612375, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.4065869455535, + -264.68596809477043, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.9065869455535, + -262.0878918834171, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.4065869455535, + -259.4898156720638, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 417.9065869455535, + -256.8917394607105, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 419.4065869455535, + -254.29366324935717, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 420.9065869455535, + -251.69558703800385, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 422.4065869455535, + -249.09751082665053, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 423.9065869455535, + -246.49943461529722, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.4065869455535, + -243.9013584039439, + -4.683877339558381 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.4065869455535, + -243.9013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 428.0046631569068, + -242.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 430.60273936826013, + -240.9013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 433.20081557961345, + -239.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 435.79889179096676, + -237.9013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 438.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 435.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 432.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 429.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 426.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 423.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 420.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 417.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 414.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 411.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 408.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 405.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 402.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 399.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 396.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 393.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 390.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 387.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 384.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 381.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 378.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 375.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 372.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 369.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 366.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 366.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 366.3969680023201, + -236.4013584039439, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 364.8969680023201, + -233.8032821925906, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 363.3969680023201, + -231.20520598123727, + -4.683877339558381 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 361.8969680023201, + -228.60712976988395, + -4.683877339558381 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_17-55-20_521035021/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-55-20_521035021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8beef334371c09490ce2b4f66b04a4939e00995d --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_17-55-20_521035021/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 281.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 284.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 299.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 299.633822809632, + -502.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.133822809632, + -499.86359034902625, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 302.633822809632, + -497.26551413767294, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.133822809632, + -494.6674379263196, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 305.633822809632, + -492.0693617149663, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 307.133822809632, + -489.471285503613, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 308.633822809632, + -486.8732092922597, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.133822809632, + -484.27513308090636, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.633822809632, + -481.67705686955304, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.133822809632, + -479.0789806581997, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 314.633822809632, + -476.4809044468464, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 316.133822809632, + -473.8828282354931, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.633822809632, + -471.2847520241398, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 319.133822809632, + -468.68667581278646, + 2.0284606858229584 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.133822809632, + -468.68667581278646, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 321.73189902098534, + -467.18667581278646, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 324.32997523233865, + -465.68667581278646, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.92805144369197, + -464.18667581278646, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 329.5261276550453, + -462.68667581278646, + 2.0284606858229584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 329.5261276550453, + -462.68667581278646, + 2.0284606858229584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 329.5261276550453, + -462.68667581278646, + 2.0284606858229584 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.5261276550453, + -462.68667581278646, + 2.0284606858229584 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 329.5261276550453, + -462.68667581278646, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 331.0261276550453, + -465.2847520241398, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 332.5261276550453, + -467.8828282354931, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 334.0261276550453, + -470.4809044468464, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 335.5261276550453, + -473.0789806581997, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 337.0261276550453, + -475.67705686955304, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 338.5261276550453, + -478.27513308090636, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 340.0261276550453, + -480.8732092922597, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 341.5261276550453, + -483.471285503613, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 343.0261276550453, + -486.0693617149663, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 344.5261276550453, + -488.6674379263196, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 346.0261276550453, + -491.26551413767294, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 347.5261276550453, + -493.86359034902625, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 349.0261276550453, + -496.46166656037957, + 2.0284606858229584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 350.5261276550453, + -499.0597427717329, + 2.0284606858229584 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_18-11-40_1985433483/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_18-11-40_1985433483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f291fbb2edfb6c9db1497086750bbfccbc42e44 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_18-11-40_1985433483/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 300.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 303.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 306.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 312.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 312.8406500654182, + -531.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 315.4387262767715, + -530.3239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 318.0368024881248, + -528.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 320.6348786994781, + -527.3239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 323.23295491083144, + -525.8239162057362, + -4.5821402840551615 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.23295491083144, + -525.8239162057362, + -4.5821402840551615 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 323.23295491083144, + -525.8239162057362, + -4.5821402840551615 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.23295491083144, + -525.8239162057362, + -4.5821402840551615 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 323.23295491083144, + -525.8239162057362, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.73295491083144, + -528.4219924170895, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.23295491083144, + -531.0200686284429, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.73295491083144, + -533.6181448397963, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 329.23295491083144, + -536.2162210511497, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 330.73295491083144, + -538.814297262503, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 332.23295491083144, + -541.4123734738564, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 333.73295491083144, + -544.0104496852098, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.23295491083144, + -546.6085258965632, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 336.73295491083144, + -549.2066021079165, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 338.23295491083144, + -551.8046783192699, + -4.5821402840551615 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 338.23295491083144, + -551.8046783192699, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 340.83103112218475, + -553.3046783192699, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 343.42910733353807, + -554.8046783192699, + -4.5821402840551615 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 346.0271835448914, + -556.3046783192699, + -4.5821402840551615 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_18-55-46_1255387090/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_18-55-46_1255387090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e8b60f35f1524048fde564414347b2e0f416969 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_18-55-46_1255387090/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 294.36558167836836, + -538.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 296.9636578897217, + -539.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 299.561734101075, + -541.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 302.1598103124283, + -542.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 304.7578865237816, + -544.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.35596273513494, + -545.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.95403894648825, + -547.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 312.55211515784157, + -548.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 315.1501913691949, + -550.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 317.7482675805482, + -551.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 320.3463437919015, + -553.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 322.94442000325483, + -554.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 325.54249621460815, + -556.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 328.14057242596147, + -557.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 330.7386486373148, + -559.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 333.3367248486681, + -560.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 335.9348010600214, + -562.4006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 338.53287727137473, + -563.9006397454307, + 2.965831998901204 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 338.53287727137473, + -563.9006397454307, + 2.965831998901204 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.53287727137473, + -563.9006397454307, + 2.965831998901204 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.53287727137473, + -563.9006397454307, + 2.965831998901204 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.53287727137473, + -563.9006397454307, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 340.03287727137473, + -561.3025635340773, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 341.53287727137473, + -558.7044873227239, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 343.03287727137473, + -556.1064111113706, + 2.965831998901204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 344.53287727137473, + -553.5083349000172, + 2.965831998901204 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_19-17-41_1910858270/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-17-41_1910858270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88218e7ffc2f8a6008edd4819f9c52153f09d4b4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-17-41_1910858270/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.17541472804777, + -178.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 351.17541472804777, + -181.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 351.17541472804777, + -184.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.17541472804777, + -187.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 351.17541472804777, + -190.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 351.17541472804777, + -193.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 351.17541472804777, + -196.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.17541472804777, + -199.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.17541472804777, + -202.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 351.17541472804777, + -205.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 351.17541472804777, + -208.61090792226898, + -3.152582518819841 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 351.17541472804777, + -208.61090792226898, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.67541472804777, + -211.2089841336223, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.17541472804777, + -213.8070603449756, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 355.67541472804777, + -216.40513655632893, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 357.17541472804777, + -219.00321276768224, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 358.67541472804777, + -221.60128897903556, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.17541472804777, + -224.19936519038887, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 361.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 361.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 361.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 364.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 367.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 370.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 373.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 376.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 379.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 382.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 385.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 388.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 391.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 394.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 397.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 400.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 403.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 406.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 409.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 412.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 415.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 418.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 421.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 424.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 427.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 430.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 433.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 433.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 433.67541472804777, + -226.7974414017422, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 435.17541472804777, + -229.3955176130955, + -3.152582518819841 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 436.67541472804777, + -231.99359382444882, + -3.152582518819841 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_19-39-9_1981208324/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-39-9_1981208324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9311d13e3ff3f10ec588fb85cc313b0c7b9df023 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-39-9_1981208324/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 379.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 382.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 394.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 397.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 403.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 406.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 409.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.01919493717855, + -217.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.61727114853187, + -219.43114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 417.2153473598852, + -220.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 419.8134235712385, + -222.43114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 422.4114997825918, + -223.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 425.00957599394513, + -225.43114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 427.60765220529845, + -226.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 430.20572841665177, + -228.43114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.8038046280051, + -229.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 435.4018808393584, + -231.43114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 437.9999570507117, + -232.93114161069417, + -4.007780888327839 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 437.9999570507117, + -232.93114161069417, + -4.007780888327839 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 437.9999570507117, + -232.93114161069417, + -4.007780888327839 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 437.9999570507117, + -232.93114161069417, + -4.007780888327839 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 437.9999570507117, + -232.93114161069417, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 439.4999570507117, + -230.33306539934085, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 440.9999570507117, + -227.73498918798754, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.4999570507117, + -225.13691297663422, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 443.9999570507117, + -222.5388367652809, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.4999570507117, + -219.9407605539276, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 446.9999570507117, + -217.34268434257427, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 448.4999570507117, + -214.74460813122096, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 449.9999570507117, + -212.14653191986764, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 451.4999570507117, + -209.54845570851433, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 452.9999570507117, + -206.950379497161, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 454.4999570507117, + -204.3523032858077, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 455.9999570507117, + -201.75422707445438, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 457.4999570507117, + -199.15615086310106, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 458.9999570507117, + -196.55807465174775, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 460.4999570507117, + -193.95999844039443, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 461.9999570507117, + -191.3619222290411, + -4.007780888327839 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 461.9999570507117, + -191.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 461.9999570507117, + -188.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 461.9999570507117, + -185.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 461.9999570507117, + -182.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 461.9999570507117, + -179.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 461.9999570507117, + -176.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 461.9999570507117, + -173.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 461.9999570507117, + -170.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 461.9999570507117, + -167.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 461.9999570507117, + -164.3619222290411, + -4.007780888327839 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 461.9999570507117, + -161.3619222290411, + -4.007780888327839 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_19-47-14_1633938701/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-47-14_1633938701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc2aa8fd2472ee9b920f740787bd7371ed8543ed --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-47-14_1633938701/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 320.8774872952777, + 218.490199754638, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 322.3774872952777, + 215.8921235432847, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 323.8774872952777, + 213.29404733193138, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 325.3774872952777, + 210.69597112057806, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.8774872952777, + 208.09789490922475, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 328.3774872952777, + 205.49981869787143, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 329.8774872952777, + 202.90174248651812, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 331.3774872952777, + 200.3036662751648, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 332.8774872952777, + 197.70559006381148, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 334.3774872952777, + 195.10751385245817, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 335.8774872952777, + 192.50943764110485, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.3774872952777, + 189.91136142975154, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 338.8774872952777, + 187.31328521839822, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.3774872952777, + 184.7152090070449, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.8774872952777, + 182.1171327956916, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 343.3774872952777, + 179.51905658433827, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 344.8774872952777, + 176.92098037298496, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.3774872952777, + 174.32290416163164, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 347.8774872952777, + 171.72482795027832, + 0.20361898536442702 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 347.8774872952777, + 171.72482795027832, + 0.20361898536442702 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 347.8774872952777, + 171.72482795027832, + 0.20361898536442702 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 347.8774872952777, + 171.72482795027832, + 0.20361898536442702 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 347.8774872952777, + 171.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 345.2794110839244, + 170.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.6813348725711, + 168.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 340.08325866121777, + 167.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 337.48518244986445, + 165.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.88710623851114, + 164.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 332.2890300271578, + 162.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.6909538158045, + 161.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.0928776044512, + 159.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 324.4948013930979, + 158.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 321.89672518174456, + 156.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 319.29864897039124, + 155.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 316.7005727590379, + 153.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 314.1024965476846, + 152.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 311.5044203363313, + 150.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 308.906344124978, + 149.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 306.30826791362466, + 147.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 303.71019170227135, + 146.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 301.11211549091803, + 144.72482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.5140392795647, + 143.22482795027832, + 0.20361898536442702 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 295.9159630682114, + 141.72482795027832, + 0.20361898536442702 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_19-53-52_811742698/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-53-52_811742698/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd9479cc32e5275bf89c771133fc794ca4d9e4b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_19-53-52_811742698/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 323.48266535575647, + -408.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 320.88458914440315, + -410.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 318.28651293304983, + -411.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 315.6884367216965, + -413.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 313.0903605103432, + -414.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.4922842989899, + -416.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 307.89420808763657, + -417.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 305.29613187628325, + -419.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.69805566492994, + -420.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 300.0999794535766, + -422.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 297.5019032422233, + -423.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.90382703087, + -425.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.3057508195167, + -426.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 289.70767460816336, + -428.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 287.10959839681004, + -429.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 284.5115221854567, + -431.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 281.9134459741034, + -432.71766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 279.3153697627501, + -434.21766336993073, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 279.3153697627501, + -434.21766336993073, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.8153697627501, + -436.81573958128405, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 276.3153697627501, + -439.41381579263737, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 274.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 277.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 280.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 283.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 286.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 289.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 295.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 301.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 304.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 304.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.8153697627501, + -442.0118920039907, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.3153697627501, + -444.609968215344, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 307.8153697627501, + -447.2080444266973, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.3153697627501, + -449.80612063805063, + -4.186410676369851 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.3153697627501, + -449.80612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 311.9134459741034, + -451.30612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.5115221854567, + -452.80612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 317.10959839681004, + -454.30612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.70767460816336, + -455.80612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.3057508195167, + -457.30612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 324.90382703087, + -458.80612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 327.5019032422233, + -460.30612063805063, + -4.186410676369851 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 330.0999794535766, + -461.80612063805063, + -4.186410676369851 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_20-28-5_1534230297/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-28-5_1534230297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf5bbbbb23af6119b008b451ac23a5d08463dd65 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-28-5_1534230297/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 404.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 392.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 389.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 383.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 380.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 377.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 374.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 371.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 368.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 356.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 356.58092333917983, + -450.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.9828471278265, + -451.60700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 351.3847709164732, + -453.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 348.7866947051199, + -454.60700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 346.18861849376657, + -456.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 343.59054228241325, + -457.60700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 340.99246607105994, + -459.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 338.3943898597066, + -460.60700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 335.7963136483533, + -462.10700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.198237437, + -463.60700659494967, + 3.6409128188361084 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.198237437, + -463.60700659494967, + 3.6409128188361084 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 333.198237437, + -463.60700659494967, + 3.6409128188361084 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 333.198237437, + -463.60700659494967, + 3.6409128188361084 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 333.198237437, + -463.60700659494967, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 334.698237437, + -466.205082806303, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 336.198237437, + -468.8031590176563, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 337.698237437, + -471.4012352290096, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 339.198237437, + -473.99931144036293, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 340.698237437, + -476.59738765171625, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 342.198237437, + -479.19546386306956, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 343.698237437, + -481.7935400744229, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 345.198237437, + -484.3916162857762, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 346.698237437, + -486.9896924971295, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 348.198237437, + -489.5877687084828, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 349.698237437, + -492.18584491983614, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 351.198237437, + -494.78392113118946, + 3.6409128188361084 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 352.698237437, + -497.3819973425428, + 3.6409128188361084 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_20-35-26_1813080154/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-35-26_1813080154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec4b53c65065a4d5ccc967932202340fba5aadd1 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-35-26_1813080154/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 487.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 496.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.2569458007812, + -224.40541381835936, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 499.0838424545418, + -208.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 496.4857662431885, + -210.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.8876900318352, + -211.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.28961382048186, + -213.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 488.69153760912855, + -214.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.09346139777523, + -216.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 483.4953851864219, + -217.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 480.8973089750686, + -219.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 478.2992327637153, + -220.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 475.70115655236197, + -222.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 473.10308034100865, + -223.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 470.50500412965533, + -225.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 467.906927918302, + -226.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 465.3088517069487, + -228.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 462.7107754955954, + -229.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 460.11269928424207, + -231.44463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 457.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 454.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 451.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 448.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 445.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 442.51462307288875, + -232.94463784722757, + -4.830135123808509 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_20-42-19_2033669086/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-42-19_2033669086/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d23a43b3bb411b19f5a94f51c4af991e0a24d2a --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-42-19_2033669086/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 296.3298849800924, + -588.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 299.3298849800924, + -588.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 302.3298849800924, + -588.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 305.3298849800924, + -588.2308451334278, + 0.9325795835473105 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 305.3298849800924, + -588.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.9279611914457, + -586.7308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 310.52603740279903, + -585.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 313.12411361415235, + -583.7308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 315.72218982550567, + -582.2308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 318.320266036859, + -580.7308451334278, + 0.9325795835473105 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 318.320266036859, + -580.7308451334278, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 319.820266036859, + -578.1327689220745, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 321.320266036859, + -575.5346927107212, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 322.820266036859, + -572.9366164993678, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 324.320266036859, + -570.3385402880144, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 325.820266036859, + -567.740464076661, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 327.320266036859, + -565.1423878653077, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 328.820266036859, + -562.5443116539543, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.320266036859, + -559.9462354426009, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 331.820266036859, + -557.3481592312476, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 333.320266036859, + -554.7500830198942, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.820266036859, + -552.1520068085408, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.320266036859, + -549.5539305971874, + 0.9325795835473105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 337.820266036859, + -546.9558543858341, + 0.9325795835473105 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_20-44-1_1671735990/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-44-1_1671735990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0c701e5e95daa9775c7a77546305b3d416a2cbc --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_20-44-1_1671735990/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 284.9731075054843, + 133.38655506401005, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 286.4731075054843, + 130.78847885265674, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.9731075054843, + 128.19040264130342, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.4731075054843, + 125.5923264299501, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 290.9731075054843, + 122.99425021859679, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 292.4731075054843, + 120.39617400724347, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 293.9731075054843, + 117.79809779589016, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 295.4731075054843, + 115.20002158453684, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 296.9731075054843, + 112.60194537318353, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.4731075054843, + 110.00386916183021, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 299.9731075054843, + 107.4057929504769, + 3.2921979278794016 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 299.9731075054843, + 107.4057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 302.5711837168376, + 105.9057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 305.1692599281909, + 104.4057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 307.7673361395442, + 102.9057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.36541235089754, + 101.4057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.96348856225086, + 99.9057929504769, + 3.2921979278794016 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 312.96348856225086, + 99.9057929504769, + 3.2921979278794016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 312.96348856225086, + 99.9057929504769, + 3.2921979278794016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 312.96348856225086, + 99.9057929504769, + 3.2921979278794016 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.96348856225086, + 99.9057929504769, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 314.46348856225086, + 102.50386916183021, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 315.96348856225086, + 105.10194537318353, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 317.46348856225086, + 107.70002158453684, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 318.96348856225086, + 110.29809779589016, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.46348856225086, + 112.89617400724347, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 321.96348856225086, + 115.49425021859679, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.46348856225086, + 118.0923264299501, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 324.96348856225086, + 120.69040264130342, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 326.46348856225086, + 123.28847885265674, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.96348856225086, + 125.88655506401005, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 329.46348856225086, + 128.48463127536337, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 330.96348856225086, + 131.08270748671669, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 332.46348856225086, + 133.68078369807, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 333.96348856225086, + 136.27885990942332, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 335.46348856225086, + 138.87693612077663, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 336.96348856225086, + 141.47501233212995, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 338.46348856225086, + 144.07308854348327, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 339.96348856225086, + 146.67116475483658, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 341.46348856225086, + 149.2692409661899, + 3.2921979278794016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 342.96348856225086, + 151.8673171775432, + 3.2921979278794016 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_21-27-18_242588954/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_21-27-18_242588954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2489a66082bee93fbeb28e792ac41c3686f7ab55 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_21-27-18_242588954/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.1010606838688, + -486.86425006592253, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 245.6010606838688, + -484.2661738545692, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.1010606838688, + -481.6680976432159, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 248.6010606838688, + -479.0700214318626, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.1010606838688, + -476.47194522050927, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 251.6010606838688, + -473.87386900915595, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 253.1010606838688, + -471.27579279780264, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 254.6010606838688, + -468.6777165864493, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 256.1010606838688, + -466.079640375096, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 257.6010606838688, + -463.4815641637427, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 259.1010606838688, + -460.8834879523894, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 260.6010606838688, + -458.28541174103606, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.1010606838688, + -455.68733552968274, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 263.6010606838688, + -453.0892593183294, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 265.1010606838688, + -450.4911831069761, + -2.667335077361947 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 265.1010606838688, + -450.4911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 267.6991368952221, + -448.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 270.29721310657544, + -447.4911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 272.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 272.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 272.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 275.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 278.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 281.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 284.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 287.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 290.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 293.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 296.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 308.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 311.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 314.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 314.89528931792876, + -445.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 317.4933655292821, + -447.4911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 320.0914417406354, + -448.9911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 322.6895179519887, + -450.4911831069761, + -2.667335077361947 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 322.6895179519887, + -450.4911831069761, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 324.1895179519887, + -453.0892593183294, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 325.6895179519887, + -455.68733552968274, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 327.1895179519887, + -458.28541174103606, + -2.667335077361947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 328.6895179519887, + -460.8834879523894, + -2.667335077361947 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_21-42-18_507578762/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_21-42-18_507578762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..869ea042381306191bebdf49a87513e6d82a74bc --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_21-42-18_507578762/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 258.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 261.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 264.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 270.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 276.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 279.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 282.44474060740737, + -435.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.0428168187607, + -436.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 287.640893030114, + -438.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.2389692414673, + -439.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.83704545282063, + -441.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.43512166417395, + -442.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.03319787552726, + -444.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 300.6312740868806, + -445.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 303.2293502982339, + -447.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 305.8274265095872, + -448.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 308.42550272094053, + -450.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.02357893229384, + -451.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.62165514364716, + -453.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 316.2197313550005, + -454.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.8178075663538, + -456.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 321.4158837777071, + -457.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 324.0139599890604, + -459.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.61203620041374, + -460.6700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 329.21011241176706, + -462.1700474145179, + 3.6626497876849022 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 329.21011241176706, + -462.1700474145179, + 3.6626497876849022 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.21011241176706, + -462.1700474145179, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 330.71011241176706, + -464.7681236258712, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 332.21011241176706, + -467.36619983722454, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 333.71011241176706, + -469.96427604857786, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 335.21011241176706, + -472.5623522599312, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 336.71011241176706, + -475.1604284712845, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 338.21011241176706, + -477.7585046826378, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 339.71011241176706, + -480.3565808939911, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 341.21011241176706, + -482.95465710534444, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 342.71011241176706, + -485.55273331669775, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 344.21011241176706, + -488.15080952805107, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 345.71011241176706, + -490.7488857394044, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 347.21011241176706, + -493.3469619507577, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 348.71011241176706, + -495.945038162111, + 3.6626497876849022 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 350.21011241176706, + -498.54311437346433, + 3.6626497876849022 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_22-33-21_78374295/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-33-21_78374295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91909605f03ad8607c2364d36d0a077610fcf7f6 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-33-21_78374295/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 409.8702230064412, + -277.98376601902726, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.3702230064412, + -275.38568980767394, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 412.8702230064412, + -272.7876135963206, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.3702230064412, + -270.1895373849673, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 415.8702230064412, + -267.591461173614, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 417.3702230064412, + -264.9933849622607, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 418.8702230064412, + -262.39530875090736, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 420.3702230064412, + -259.79723253955405, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 421.8702230064412, + -257.19915632820073, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 423.3702230064412, + -254.6010801168474, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 424.8702230064412, + -252.0030039054941, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.3702230064412, + -249.40492769414078, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 427.8702230064412, + -246.80685148278747, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 429.3702230064412, + -244.20877527143415, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 430.8702230064412, + -241.61069906008083, + -1.0446450248229149 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 430.8702230064412, + -241.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 433.46829921779454, + -240.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.06637542914785, + -238.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 435.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 432.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 429.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 426.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 423.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 420.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 417.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 414.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 411.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 408.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 405.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 402.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 399.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 396.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 393.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 390.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 387.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 384.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 381.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 381.66445164050117, + -237.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 379.06637542914785, + -235.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 376.46829921779454, + -234.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 373.8702230064412, + -232.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 371.2721467950879, + -231.11069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 368.6740705837346, + -229.61069906008083, + -1.0446450248229149 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 368.6740705837346, + -229.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 365.6740705837346, + -229.61069906008083, + -1.0446450248229149 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 362.6740705837346, + -229.61069906008083, + -1.0446450248229149 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_22-39-46_18400960/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-39-46_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b38098d17cd363e4900b4232ecd6539c4dc8211b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-39-46_18400960/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 291.57435070847737, + 30.799265522530547, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.07435070847737, + 33.39734173388386, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.57435070847737, + 35.99541794523718, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 296.07435070847737, + 38.593494156590495, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 297.57435070847737, + 41.19157036794381, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 299.07435070847737, + 43.78964657929713, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 300.57435070847737, + 46.38772279065044, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 302.07435070847737, + 48.98579900200376, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.57435070847737, + 51.583875213357075, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 305.07435070847737, + 54.18195142471039, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 306.57435070847737, + 56.78002763606371, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 308.07435070847737, + 59.37810384741702, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 309.57435070847737, + 61.97618005877034, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 311.07435070847737, + 64.57425627012366, + -4.349692066815043 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 311.07435070847737, + 64.57425627012366, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.07435070847737, + 67.57425627012366, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 311.07435070847737, + 70.57425627012366, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 311.07435070847737, + 73.57425627012366, + -4.349692066815043 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 311.07435070847737, + 73.57425627012366, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 309.57435070847737, + 76.17233248147697, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 308.07435070847737, + 78.77040869283029, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 306.57435070847737, + 81.3684849041836, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 305.07435070847737, + 83.96656111553692, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 303.57435070847737, + 86.56463732689024, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 302.07435070847737, + 89.16271353824355, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 300.57435070847737, + 91.76078974959687, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.07435070847737, + 94.35886596095018, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.57435070847737, + 96.9569421723035, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 296.07435070847737, + 99.55501838365682, + -4.349692066815043 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 296.07435070847737, + 99.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 296.07435070847737, + 102.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.07435070847737, + 105.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 296.07435070847737, + 108.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 296.07435070847737, + 111.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.07435070847737, + 114.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.07435070847737, + 117.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.07435070847737, + 120.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.07435070847737, + 123.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.07435070847737, + 126.55501838365682, + -4.349692066815043 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 296.07435070847737, + 129.55501838365683, + -4.349692066815043 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_22-44-37_399493245/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-44-37_399493245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6a4f9c1b762cb0305a77380730694b37f36f161 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-44-37_399493245/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.1136285425715, + 368.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 456.71170475392483, + 367.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 459.30978096527815, + 365.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 461.90785717663147, + 364.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 464.5059333879848, + 362.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 467.1040095993381, + 361.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 469.7020858106914, + 359.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 472.30016202204473, + 358.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 474.89823823339805, + 356.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 477.49631444475136, + 355.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 480.0943906561047, + 353.5212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.692466867458, + 352.0212408219248, + 2.897923088284867 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 482.692466867458, + 352.0212408219248, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 484.192466867458, + 349.42316461057146, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 485.692466867458, + 346.82508839921815, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.192466867458, + 344.22701218786483, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 488.692466867458, + 341.6289359765115, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 490.192466867458, + 339.0308597651582, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 491.692466867458, + 336.4327835538049, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 493.192466867458, + 333.83470734245157, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.692466867458, + 331.23663113109825, + 2.897923088284867 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 494.692466867458, + 331.23663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 497.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 497.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 494.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 491.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 488.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 485.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 482.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 479.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 476.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 473.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 470.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 467.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 464.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 461.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 458.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 455.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 452.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 452.2905430788113, + 329.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 449.692466867458, + 328.23663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 447.0943906561047, + 326.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 444.49631444475136, + 325.23663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 441.89823823339805, + 323.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 439.30016202204473, + 322.23663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 436.7020858106914, + 320.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 434.1040095993381, + 319.23663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 431.5059333879848, + 317.73663113109825, + 2.897923088284867 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 428.90785717663147, + 316.23663113109825, + 2.897923088284867 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_22-5-30_2058907361/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-5-30_2058907361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc6a339d332df199daeb9f5ecfdd757e1b67ff35 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_22-5-30_2058907361/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 466.4247670140407, + 265.4593313774305, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.9247670140407, + 268.0574075887838, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 469.4247670140407, + 270.6554838001371, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 470.9247670140407, + 273.25356001149044, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 472.4247670140407, + 275.85163622284375, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.9247670140407, + 278.44971243419707, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 475.4247670140407, + 281.0477886455504, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 476.9247670140407, + 283.6458648569037, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 478.4247670140407, + 286.243941068257, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 479.9247670140407, + 288.84201727961033, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 481.4247670140407, + 291.44009349096365, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 482.9247670140407, + 294.03816970231696, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 484.4247670140407, + 296.6362459136703, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 485.9247670140407, + 299.2343221250236, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 487.4247670140407, + 301.8323983363769, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 488.9247670140407, + 304.4304745477302, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.4247670140407, + 307.02855075908354, + -2.439769822121873 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 490.4247670140407, + 307.02855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 493.022843225394, + 308.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 495.62091943674733, + 310.02855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 498.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 495.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 492.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 489.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 486.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 483.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 480.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 477.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 474.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 471.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 468.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 465.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 462.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 459.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 456.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 453.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 450.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 447.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 444.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 441.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 438.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 435.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 432.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 429.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 429.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 429.21899564810064, + 311.52855075908354, + -2.439769822121873 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 427.71899564810064, + 314.12662697043686, + -2.439769822121873 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-10_23-36-22_1105629391/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-10_23-36-22_1105629391/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d5ee7a9aeb3a5608c9e6e4189ecb8d11fb4d289 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-10_23-36-22_1105629391/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 290.7194531893971, + -553.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.3175294007504, + -552.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.9156056121037, + -550.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 298.51368182345703, + -549.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.11175803481035, + -547.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 303.70983424616367, + -546.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.307910457517, + -544.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 308.9059866688703, + -543.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 311.5040628802236, + -541.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 314.10213909157693, + -540.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 316.70021530293025, + -538.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 319.29829151428356, + -537.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 321.8963677256369, + -535.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 324.4944439369902, + -534.1581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 327.0925201483435, + -532.6581957794652, + 4.649969546347766 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 327.0925201483435, + -532.6581957794652, + 4.649969546347766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 327.0925201483435, + -532.6581957794652, + 4.649969546347766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.0925201483435, + -532.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 327.0925201483435, + -529.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.0925201483435, + -526.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 327.0925201483435, + -523.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 327.0925201483435, + -520.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.0925201483435, + -517.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 327.0925201483435, + -514.6581957794652, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 327.0925201483435, + -511.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.0925201483435, + -508.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 327.0925201483435, + -505.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 327.0925201483435, + -502.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 327.0925201483435, + -499.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 327.0925201483435, + -496.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.0925201483435, + -493.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 327.0925201483435, + -490.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 327.0925201483435, + -487.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 327.0925201483435, + -484.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 327.0925201483435, + -481.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.0925201483435, + -478.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 327.0925201483435, + -475.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 327.0925201483435, + -472.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 327.0925201483435, + -469.65819577946525, + 4.649969546347766 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 327.0925201483435, + -469.65819577946525, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 328.5925201483435, + -467.06011956811193, + 4.649969546347766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 330.0925201483435, + -464.4620433567586, + 4.649969546347766 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_0-53-21_551201745/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_0-53-21_551201745/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3b0245fe856fd03e748233852a52166410a2f81 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_0-53-21_551201745/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 261.89698847718125, + -376.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 261.89698847718125, + -379.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.89698847718125, + -382.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 261.89698847718125, + -385.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 261.89698847718125, + -388.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.89698847718125, + -391.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 261.89698847718125, + -394.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.89698847718125, + -397.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.89698847718125, + -400.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 261.89698847718125, + -403.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 261.89698847718125, + -406.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 261.89698847718125, + -409.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 261.89698847718125, + -412.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 261.89698847718125, + -415.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.89698847718125, + -418.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 261.89698847718125, + -421.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 261.89698847718125, + -424.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 261.89698847718125, + -427.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 261.89698847718125, + -430.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 261.89698847718125, + -433.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 261.89698847718125, + -436.9077222301305, + 1.940393983859643 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 261.89698847718125, + -436.9077222301305, + 1.940393983859643 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 261.89698847718125, + -436.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 264.49506468853457, + -438.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 267.0931408998879, + -439.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 269.6912171112412, + -441.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 272.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 272.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 272.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 275.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 278.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 281.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 284.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 287.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 290.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 293.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.2892933225945, + -442.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 298.88736953394783, + -444.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.48544574530115, + -445.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 304.08352195665447, + -447.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 306.6815981680078, + -448.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 309.2796743793611, + -450.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 311.8777505907144, + -451.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 314.47582680206773, + -453.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 317.07390301342105, + -454.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.67197922477436, + -456.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.2700554361277, + -457.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 324.868131647481, + -459.4077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 327.4662078588343, + -460.9077222301305, + 1.940393983859643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 330.0642840701876, + -462.4077222301305, + 1.940393983859643 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_0-55-47_763148569/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_0-55-47_763148569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0cab7f9d12be7508a51e335e2fac2ba58d9fc00 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_0-55-47_763148569/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.4990361344203, + 204.58793465427567, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 316.9990361344203, + 201.98985844292235, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 315.4990361344203, + 199.39178223156904, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.9990361344203, + 196.79370602021572, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.4990361344203, + 194.1956298088624, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.9990361344203, + 191.5975535975091, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.4990361344203, + 188.99947738615577, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.9990361344203, + 186.40140117480246, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.4990361344203, + 183.80332496344914, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.9990361344203, + 181.20524875209583, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.4990361344203, + 178.6071725407425, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 301.9990361344203, + 176.0090963293892, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 300.4990361344203, + 173.41102011803588, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.9990361344203, + 170.81294390668256, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.4990361344203, + 168.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.9990361344203, + 165.61679148397593, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.4990361344203, + 163.01871527262261, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 292.9990361344203, + 160.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 292.9990361344203, + 160.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.9990361344203, + 157.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 292.9990361344203, + 154.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 292.9990361344203, + 151.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 292.9990361344203, + 148.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 292.9990361344203, + 145.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 292.9990361344203, + 142.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 292.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 292.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 292.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 292.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 295.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 298.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 301.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 304.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 307.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 310.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 310.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 310.9990361344203, + 139.4206390612693, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 312.4990361344203, + 142.01871527262261, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 313.9990361344203, + 144.61679148397593, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 315.4990361344203, + 147.21486769532925, + 4.058624535499749 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 315.4990361344203, + 147.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 318.0971123457736, + 148.71486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 320.6951885571269, + 150.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 323.29326476848024, + 151.71486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 325.89134097983356, + 153.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 328.4894171911869, + 154.71486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 331.0874934025402, + 156.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 333.6855696138935, + 157.71486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 336.2836458252468, + 159.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 338.88172203660014, + 160.71486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 341.47979824795345, + 162.21486769532925, + 4.058624535499749 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 344.07787445930677, + 163.71486769532925, + 4.058624535499749 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_1-33-25_1158747661/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-33-25_1158747661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39946833401aea3d77eb075780eeac9d1b96f189 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-33-25_1158747661/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 461.4149060178912, + 350.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 464.0129822292445, + 349.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.61105844059784, + 347.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 469.20913465195116, + 346.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 471.8072108633045, + 344.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 474.4052870746578, + 343.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 477.0033632860111, + 341.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 479.6014394973644, + 340.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.19951570871774, + 338.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 484.79759192007106, + 337.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 487.3956681314244, + 335.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 489.9937443427777, + 334.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.591820554131, + 332.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 495.1898967654843, + 331.2358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.78797297683764, + 329.7358419671826, + 0.8161705809912174 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.78797297683764, + 329.7358419671826, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 499.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 499.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 499.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 493.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 487.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 484.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 481.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 478.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 475.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 472.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 469.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 466.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 463.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 460.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 457.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 454.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 451.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 448.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 445.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 442.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 439.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 436.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 433.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 433.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 433.28797297683764, + 327.13776575582926, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 431.78797297683764, + 324.53968954447595, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 430.28797297683764, + 321.94161333312263, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 428.78797297683764, + 319.3435371217693, + 0.8161705809912174 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 427.28797297683764, + 316.745460910416, + 0.8161705809912174 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_1-4-38_1564003050/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-4-38_1564003050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd2dab27c538995a164899d7ad8e853f578bfb99 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-4-38_1564003050/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 260.8814803855447, + 211.67144035854892, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.3814803855447, + 209.0733641471956, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 263.8814803855447, + 206.4752879358423, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 265.3814803855447, + 203.87721172448897, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.8814803855447, + 201.27913551313566, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 268.3814803855447, + 198.68105930178234, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.8814803855447, + 196.08298309042902, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 271.3814803855447, + 193.4849068790757, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 272.8814803855447, + 190.8868306677224, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.3814803855447, + 188.28875445636908, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 275.8814803855447, + 185.69067824501576, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 277.3814803855447, + 183.09260203366244, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 278.8814803855447, + 180.49452582230913, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 280.3814803855447, + 177.8964496109558, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.8814803855447, + 175.2983733996025, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 283.3814803855447, + 172.70029718824918, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 284.8814803855447, + 170.10222097689586, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 286.3814803855447, + 167.50414476554255, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 287.8814803855447, + 164.90606855418923, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 289.3814803855447, + 162.30799234283592, + -3.166773198052142 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 289.3814803855447, + 162.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.3814803855447, + 159.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 289.3814803855447, + 156.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 289.3814803855447, + 153.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 289.3814803855447, + 150.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 289.3814803855447, + 147.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 289.3814803855447, + 144.30799234283592, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 289.3814803855447, + 144.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 290.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 290.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 290.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 290.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 296.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 299.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 308.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 311.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 314.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 317.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 323.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 326.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 326.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 326.8814803855447, + 141.7099161314826, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 328.3814803855447, + 144.30799234283592, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 329.8814803855447, + 146.90606855418923, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 331.3814803855447, + 149.50414476554255, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 332.8814803855447, + 152.10222097689586, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 334.3814803855447, + 154.70029718824918, + -3.166773198052142 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 334.3814803855447, + 154.70029718824918, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 336.979556596898, + 156.20029718824918, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 339.57763280825134, + 157.70029718824918, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 342.17570901960465, + 159.20029718824918, + -3.166773198052142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 344.77378523095797, + 160.70029718824918, + -3.166773198052142 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_1-54-50_1154615609/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-54-50_1154615609/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7bee8940cfd41d45e912a0a72613d23c1770619 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_1-54-50_1154615609/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 245.78984967225958, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 248.78984967225958, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 251.78984967225958, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 254.78984967225958, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 260.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 272.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 275.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 278.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 281.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 284.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 287.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 290.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 293.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 296.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 296.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 296.7898496722596, + 101.33248557536417, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 298.2898496722596, + 98.73440936401086, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 299.7898496722596, + 96.13633315265754, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 301.2898496722596, + 93.53825694130423, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 302.7898496722596, + 90.94018072995091, + -1.8153068780387809 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 302.7898496722596, + 90.94018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 305.3879258836129, + 89.44018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 307.98600209496624, + 87.94018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 310.58407830631955, + 86.44018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 313.18215451767287, + 84.94018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.7802307290262, + 83.44018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 318.3783069403795, + 81.94018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 320.9763831517328, + 80.44018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 323.57445936308613, + 78.94018072995091, + -1.8153068780387809 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 323.57445936308613, + 78.94018072995091, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 325.07445936308613, + 76.3421045185976, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 326.57445936308613, + 73.74402830724428, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 328.07445936308613, + 71.14595209589096, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.57445936308613, + 68.54787588453765, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 331.07445936308613, + 65.94979967318433, + -1.8153068780387809 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 332.57445936308613, + 63.351723461831014, + -1.8153068780387809 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_10-43-29_172669440/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_10-43-29_172669440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95caf35a6b6c9c8532ed030eefc190567628e9c7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_10-43-29_172669440/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 397.58696924960867, + -183.51572538736113, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.08696924960867, + -186.11380159871445, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.58696924960867, + -188.71187781006776, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 393.08696924960867, + -191.30995402142108, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.58696924960867, + -193.9080302327744, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.08696924960867, + -196.5061064441277, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 388.58696924960867, + -199.10418265548103, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 387.08696924960867, + -201.70225886683434, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 385.58696924960867, + -204.30033507818766, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 384.08696924960867, + -206.89841128954097, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.58696924960867, + -209.4964875008943, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 381.08696924960867, + -212.0945637122476, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 379.58696924960867, + -214.69263992360092, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.08696924960867, + -217.29071613495424, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 376.58696924960867, + -219.88879234630755, + -4.905538088573311 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 376.58696924960867, + -219.88879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 373.98889303825536, + -221.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 371.39081682690204, + -222.88879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 368.7927406155487, + -224.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 366.1946644041954, + -225.88879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 363.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 366.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 369.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 372.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 375.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 378.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 381.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 384.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 387.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 390.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 393.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 396.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 399.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 402.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 405.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 408.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 411.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 414.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 417.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 420.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 423.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 423.5965881928421, + -227.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 426.1946644041954, + -228.88879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 428.7927406155487, + -230.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 431.39081682690204, + -231.88879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 433.98889303825536, + -233.38879234630755, + -4.905538088573311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 436.58696924960867, + -234.88879234630755, + -4.905538088573311 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_10-5-35_1171142496/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_10-5-35_1171142496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eefa3693dae82d511384abbc749c444962ec3377 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_10-5-35_1171142496/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 402.71803460434785, + 109.58685042592073, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.21803460434785, + 112.18492663727405, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.71803460434785, + 114.78300284862736, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.21803460434785, + 117.38107905998068, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 396.71803460434785, + 119.979155271334, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.21803460434785, + 122.57723148268731, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 393.71803460434785, + 125.17530769404063, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.21803460434785, + 127.77338390539394, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.71803460434785, + 130.37146011674724, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 389.21803460434785, + 132.96953632810056, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 387.71803460434785, + 135.56761253945388, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 386.21803460434785, + 138.1656887508072, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 384.71803460434785, + 140.7637649621605, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 383.21803460434785, + 143.36184117351382, + 3.8585054560730896 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.21803460434785, + 143.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 380.61995839299453, + 144.86184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.0218821816412, + 146.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 375.4238059702879, + 147.86184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 372.8257297589346, + 149.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 370.22765354758127, + 150.86184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.62957733622795, + 152.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.03150112487464, + 153.86184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.4334249135213, + 155.36184117351382, + 3.8585054560730896 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.4334249135213, + 155.36184117351382, + 3.8585054560730896 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 362.4334249135213, + 155.36184117351382, + 3.8585054560730896 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 362.4334249135213, + 155.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.4334249135213, + 158.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 362.4334249135213, + 161.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 362.4334249135213, + 164.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 362.4334249135213, + 167.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 362.4334249135213, + 170.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 362.4334249135213, + 173.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 362.4334249135213, + 176.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 362.4334249135213, + 179.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 362.4334249135213, + 182.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 362.4334249135213, + 185.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 362.4334249135213, + 188.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 362.4334249135213, + 191.36184117351382, + 3.8585054560730896 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 362.4334249135213, + 191.36184117351382, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 360.9334249135213, + 193.95991738486714, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 359.4334249135213, + 196.55799359622046, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 357.9334249135213, + 199.15606980757377, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 356.4334249135213, + 201.7541460189271, + 3.8585054560730896 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 354.9334249135213, + 204.3522222302804, + 3.8585054560730896 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_11-0-41_901211983/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_11-0-41_901211983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44debef2563296dcd712bf6f7628673319e93466 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_11-0-41_901211983/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 487.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 490.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 493.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 496.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.2569458007812, + -224.40541381835936, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 499.4241658233372, + -213.82556024164836, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.9241658233372, + -211.22748403029505, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 496.4241658233372, + -208.62940781894173, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 494.9241658233372, + -206.0313316075884, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.4241658233372, + -203.4332553962351, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 491.9241658233372, + -200.83517918488178, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 490.4241658233372, + -198.23710297352847, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 488.9241658233372, + -195.63902676217515, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 487.4241658233372, + -193.04095055082183, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 485.9241658233372, + -190.44287433946852, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 484.4241658233372, + -187.8447981281152, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 482.9241658233372, + -185.24672191676189, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 481.4241658233372, + -182.64864570540857, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 479.9241658233372, + -180.05056949405525, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 478.4241658233372, + -177.45249328270194, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 476.9241658233372, + -174.85441707134862, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 475.4241658233372, + -172.2563408599953, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 473.9241658233372, + -169.658264648642, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 472.4241658233372, + -167.06018843728867, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 470.9241658233372, + -164.46211222593536, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 469.4241658233372, + -161.86403601458204, + 2.8392842554508775 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 467.9241658233372, + -159.26595980322872, + 2.8392842554508775 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_12-27-54_2138704485/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-27-54_2138704485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39db3369ea83bffdecee3f0d44ab7c516239e4a7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-27-54_2138704485/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 471.40067745545196, + 286.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 468.80260124409864, + 287.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 466.2045250327453, + 289.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 463.606448821392, + 290.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.0083726100387, + 292.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 458.4102963986854, + 293.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 455.81222018733206, + 295.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 453.21414397597874, + 296.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 450.6160677646254, + 298.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 448.0179915532721, + 299.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 445.4199153419188, + 301.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 442.8218391305655, + 302.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 440.22376291921216, + 304.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 437.62568670785885, + 305.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 435.02761049650553, + 307.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 432.4295342851522, + 308.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 429.8314580737989, + 310.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 427.2333818624456, + 311.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 427.2333818624456, + 311.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 427.2333818624456, + 311.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 427.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 427.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 427.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 427.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 430.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 439.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 445.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 448.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 451.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 454.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 457.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 460.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 463.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 466.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 469.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 472.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 475.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 484.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 487.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 487.2333818624456, + 314.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 489.8314580737989, + 316.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 492.4295342851522, + 317.96760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 495.02761049650553, + 319.46760384863484, + 2.4659945364860825 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 497.62568670785885, + 320.96760384863484, + 2.4659945364860825 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_12-28-31_243253491/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-28-31_243253491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..027ec302bbeba164de4795a795d7fbf2ea43cd2c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-28-31_243253491/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 451.3415948485058, + 263.7575135419819, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 449.8415948485058, + 266.3555897533352, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 448.3415948485058, + 268.9536659646885, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 446.8415948485058, + 271.55174217604184, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 445.3415948485058, + 274.14981838739516, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 443.8415948485058, + 276.7478945987485, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 442.3415948485058, + 279.3459708101018, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 440.8415948485058, + 281.9440470214551, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 439.3415948485058, + 284.5421232328084, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 437.8415948485058, + 287.14019944416174, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 436.3415948485058, + 289.73827565551505, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 434.8415948485058, + 292.33635186686837, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 433.3415948485058, + 294.9344280782217, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.8415948485058, + 297.532504289575, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 430.3415948485058, + 300.1305805009283, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 428.8415948485058, + 302.72865671228163, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 427.3415948485058, + 305.32673292363495, + -2.619606337778875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 427.3415948485058, + 305.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 427.3415948485058, + 308.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 427.3415948485058, + 311.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 427.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 427.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 427.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 427.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 427.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 430.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 439.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 442.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 445.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 448.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 451.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 454.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 457.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 460.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 463.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 466.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 469.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 472.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 475.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 478.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 484.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 484.3415948485058, + 314.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 486.9396710598591, + 315.82673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 489.5377472712124, + 317.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 492.13582348256574, + 318.82673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 494.73389969391906, + 320.32673292363495, + -2.619606337778875 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 497.3319759052724, + 321.82673292363495, + -2.619606337778875 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_12-36-19_899633766/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-36-19_899633766/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f46841e181f7b888716fbb082766e85b3df1cab --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-36-19_899633766/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 280.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 286.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 295.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 301.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 304.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 310.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 313.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 316.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 316.5103697461485, + -456.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 319.10844595750183, + -457.5401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.70652216885514, + -459.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 324.30459838020846, + -460.5401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.9026745915618, + -462.0401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 329.5007508029151, + -463.5401516543723, + 2.4195260352537513 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 329.5007508029151, + -463.5401516543723, + 2.4195260352537513 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 329.5007508029151, + -463.5401516543723, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.0007508029151, + -466.13822786572564, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.5007508029151, + -468.73630407707896, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.0007508029151, + -471.33438028843227, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 335.5007508029151, + -473.9324564997856, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 337.0007508029151, + -476.5305327111389, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 338.5007508029151, + -479.1286089224922, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 340.0007508029151, + -481.72668513384554, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 341.5007508029151, + -484.32476134519885, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 343.0007508029151, + -486.92283755655217, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 344.5007508029151, + -489.5209137679055, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 346.0007508029151, + -492.1189899792588, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 347.5007508029151, + -494.7170661906121, + 2.4195260352537513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 349.0007508029151, + -497.31514240196543, + 2.4195260352537513 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_12-5-36_1481907231/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-5-36_1481907231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9445430890c8150bb0ff647a75cfd2ba8bb5ef09 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_12-5-36_1481907231/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 348.7845678790919, + 145.00986916391452, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 347.2845678790919, + 142.4117929525612, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 345.7845678790919, + 139.81371674120788, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 344.2845678790919, + 137.21564052985457, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.7845678790919, + 134.61756431850125, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 341.2845678790919, + 132.01948810714794, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 339.7845678790919, + 129.42141189579462, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 338.2845678790919, + 126.8233356844413, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 336.7845678790919, + 124.22525947308799, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 335.2845678790919, + 121.62718326173467, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 333.7845678790919, + 119.02910705038136, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 332.2845678790919, + 116.43103083902804, + 3.0440943794348936 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 332.2845678790919, + 116.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.2845678790919, + 113.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 332.2845678790919, + 110.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.2845678790919, + 107.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.2845678790919, + 104.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.2845678790919, + 101.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 332.2845678790919, + 98.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 332.2845678790919, + 95.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 332.2845678790919, + 92.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 332.2845678790919, + 89.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.2845678790919, + 86.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 332.2845678790919, + 83.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.2845678790919, + 80.43103083902804, + 3.0440943794348936 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 332.2845678790919, + 80.43103083902804, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.7845678790919, + 77.83295462767472, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 335.2845678790919, + 75.23487841632141, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.7845678790919, + 72.63680220496809, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 338.2845678790919, + 70.03872599361478, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.7845678790919, + 67.44064978226146, + 3.0440943794348936 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 341.2845678790919, + 64.84257357090814, + 3.0440943794348936 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_13-15-15_390868264/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-15-15_390868264/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab7c8ec3bde0b6f095249789394a41227b55c024 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-15-15_390868264/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.50967208344403, + 180.1859609812082, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.00967208344403, + 177.5878847698549, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 254.50967208344403, + 174.98980855850158, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 256.00967208344406, + 172.39173234714826, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965896 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.50967208344406, + 169.79365613579495, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 259.00967208344406, + 167.19557992444163, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.50967208344406, + 164.59750371308832, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.00967208344406, + 161.999427501735, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.50967208344406, + 159.40135129038168, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.00967208344406, + 156.80327507902837, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.50967208344406, + 154.20519886767505, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.00967208344406, + 151.60712265632174, + -3.4185119508032953 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 268.00967208344406, + 151.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.6077482947974, + 150.10712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.2058245061507, + 148.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.803900717504, + 147.10712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 278.4019769288573, + 145.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 281.00005314021064, + 144.10712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 283.59812935156395, + 142.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 286.19620556291727, + 141.10712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 288.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 288.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 288.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 291.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 294.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 300.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 306.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 309.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 321.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 324.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 330.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 330.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 330.7942817742706, + 139.60712265632174, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 332.2942817742706, + 142.20519886767505, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 333.7942817742706, + 144.80327507902837, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 335.2942817742706, + 147.40135129038168, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 336.7942817742706, + 149.999427501735, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 338.2942817742706, + 152.59750371308832, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 339.7942817742706, + 155.19557992444163, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 341.2942817742706, + 157.79365613579495, + -3.4185119508032953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 342.7942817742706, + 160.39173234714826, + -3.4185119508032953 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_13-49-42_739068399/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-49-42_739068399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07c4b64737bb84e96df8e1fd256f8e217d0512ba --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-49-42_739068399/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.65447476571075, + 253.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 391.05639855435743, + 252.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 388.4583223430041, + 250.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.8602461316508, + 249.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 383.2621699202975, + 247.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.66409370894416, + 246.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 378.06601749759085, + 244.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 375.46794128623753, + 243.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 372.8698650748842, + 241.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 370.2717888635309, + 240.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 367.6737126521776, + 238.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 365.07563644082427, + 237.3217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.47756022947095, + 235.8217855316906, + -0.03745950300596679 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.47756022947095, + 235.8217855316906, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.97756022947095, + 233.2237093203373, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.47756022947095, + 230.62563310898398, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.97756022947095, + 228.02755689763066, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 356.47756022947095, + 225.42948068627734, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.97756022947095, + 222.83140447492403, + -0.03745950300596679 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 354.97756022947095, + 222.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 354.97756022947095, + 219.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 354.97756022947095, + 216.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 354.97756022947095, + 213.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 354.97756022947095, + 210.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 354.97756022947095, + 207.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 354.97756022947095, + 204.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 354.97756022947095, + 201.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 354.97756022947095, + 198.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 354.97756022947095, + 195.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 354.97756022947095, + 192.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 354.97756022947095, + 189.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 354.97756022947095, + 186.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 354.97756022947095, + 183.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 354.97756022947095, + 180.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 354.97756022947095, + 177.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 354.97756022947095, + 174.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 354.97756022947095, + 171.83140447492403, + -0.03745950300596679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 354.97756022947095, + 168.83140447492403, + -0.03745950300596679 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_13-57-47_871328242/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-57-47_871328242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdb9090580bafcbbfd5b7401d93f218ab8501c59 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_13-57-47_871328242/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 298.89968389264374, + -492.4343869959516, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 297.39968389264374, + -489.8363107845983, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.89968389264374, + -487.238234573245, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 294.39968389264374, + -484.6401583618917, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.89968389264374, + -482.04208215053836, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 291.39968389264374, + -479.44400593918505, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 289.89968389264374, + -476.84592972783173, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 288.39968389264374, + -474.2478535164784, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.89968389264374, + -471.6497773051251, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.39968389264374, + -469.0517010937718, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.89968389264374, + -466.45362488241847, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 282.39968389264374, + -463.85554867106515, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 280.89968389264374, + -461.25747245971183, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 279.39968389264374, + -458.6593962483585, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 277.89968389264374, + -456.0613200370052, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 276.39968389264374, + -453.4632438256519, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 274.89968389264374, + -450.86516761429857, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 273.39968389264374, + -448.26709140294525, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 277.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 280.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 283.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 286.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 289.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 295.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 298.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 301.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 304.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 310.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 313.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 316.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 319.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 319.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 319.89968389264374, + -445.66901519159194, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 321.39968389264374, + -448.26709140294525, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 322.89968389264374, + -450.86516761429857, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 324.39968389264374, + -453.4632438256519, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 325.89968389264374, + -456.0613200370052, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 327.39968389264374, + -458.6593962483585, + 0.008342006776675959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 328.89968389264374, + -461.25747245971183, + 0.008342006776675959 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_14-2-13_878786386/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-2-13_878786386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4387417540ed4da4125c670061069553f75cbcc --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-2-13_878786386/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 299.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 302.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 305.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 308.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 314.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 317.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 320.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 323.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 323.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 323.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 323.66643028602857, + -572.5286015655254, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 325.16643028602857, + -569.930525354172, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 326.66643028602857, + -567.3324491428186, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 328.16643028602857, + -564.7343729314653, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 329.66643028602857, + -562.1362967201119, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 331.16643028602857, + -559.5382205087585, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.66643028602857, + -556.9401442974051, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 334.16643028602857, + -554.3420680860518, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 335.66643028602857, + -551.7439918746984, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 337.16643028602857, + -549.145915663345, + -4.984516091488451 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 338.66643028602857, + -546.5478394519916, + -4.984516091488451 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_14-22-9_1948432483/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-22-9_1948432483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..addf62bd84361261e9854ab16c0aa77c1b92bb31 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-22-9_1948432483/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.44534441160395, + -261.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.84726820025064, + -262.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 120.24919198889732, + -264.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.651115777544, + -265.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.05303956619069, + -267.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.45496335483737, + -268.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.85688714348406, + -270.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 107.25881093213074, + -271.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 104.66073472077743, + -273.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.06265850942411, + -274.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.4645822980708, + -276.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.86650608671748, + -277.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 94.26842987536416, + -279.4928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 91.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 88.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 85.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 82.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 79.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 76.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 76.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 76.67035366401085, + -280.9928716127066, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 78.17035366401085, + -283.5909478240599, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 79.67035366401085, + -286.18902403541324, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 81.17035366401085, + -288.78710024676656, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 82.67035366401085, + -291.3851764581199, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 84.17035366401085, + -293.9832526694732, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 85.67035366401085, + -296.5813288808265, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 87.17035366401085, + -299.1794050921798, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 88.67035366401085, + -301.77748130353314, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 90.17035366401085, + -304.37555751488645, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 91.67035366401085, + -306.97363372623977, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 93.17035366401085, + -309.5717099375931, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 94.67035366401085, + -312.1697861489464, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 96.17035366401085, + -314.7678623602997, + -2.2563823121482294 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 96.17035366401085, + -314.7678623602997, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 96.17035366401085, + -317.7678623602997, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 96.17035366401085, + -320.7678623602997, + -2.2563823121482294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 96.17035366401085, + -323.7678623602997, + -2.2563823121482294 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_14-3-41_1833469976/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-3-41_1833469976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d86e06c401f07d3e24c7833131136f2fa06e4683 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_14-3-41_1833469976/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 329.13574930787377, + 236.01544424233617, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 330.63574930787377, + 233.41736803098286, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 332.13574930787377, + 230.81929181962954, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 333.63574930787377, + 228.22121560827622, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 335.13574930787377, + 225.6231393969229, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 336.63574930787377, + 223.0250631855696, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 338.13574930787377, + 220.42698697421628, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 339.63574930787377, + 217.82891076286296, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 341.13574930787377, + 215.23083455150964, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.63574930787377, + 212.63275834015633, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 344.13574930787377, + 210.034682128803, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 345.63574930787377, + 207.4366059174497, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.13574930787377, + 204.83852970609638, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.63574930787377, + 202.24045349474306, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.13574930787377, + 199.64237728338975, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 351.63574930787377, + 197.04430107203643, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 353.13574930787377, + 194.44622486068312, + 1.0995564149276627 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 353.13574930787377, + 194.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.13574930787377, + 191.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 353.13574930787377, + 188.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 353.13574930787377, + 185.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 353.13574930787377, + 182.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 353.13574930787377, + 179.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.13574930787377, + 176.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 353.13574930787377, + 173.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 353.13574930787377, + 170.44622486068312, + 1.0995564149276627 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 353.13574930787377, + 170.44622486068312, + 1.0995564149276627 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 353.13574930787377, + 170.44622486068312, + 1.0995564149276627 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 353.13574930787377, + 170.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 350.53767309652045, + 168.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 347.93959688516713, + 167.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 345.3415206738138, + 165.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 342.7434444624605, + 164.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 340.1453682511072, + 162.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 337.54729203975387, + 161.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 334.94921582840055, + 159.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 332.35113961704724, + 158.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.7530634056939, + 156.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 327.1549871943406, + 155.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 324.5569109829873, + 153.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 321.958834771634, + 152.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 319.36075856028066, + 150.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 316.76268234892734, + 149.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.164606137574, + 147.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 311.5665299262207, + 146.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 308.9684537148674, + 144.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 306.3703775035141, + 143.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 303.77230129216076, + 141.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 301.17422508080745, + 140.44622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 298.57614886945413, + 138.94622486068312, + 1.0995564149276627 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 295.9780726581008, + 137.44622486068312, + 1.0995564149276627 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-0_990217934/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-0_990217934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3f3f2504412ae19638f304e360dc332d82cb377 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-0_990217934/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 398.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 392.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 389.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 380.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 374.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 371.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 368.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 365.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 359.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 356.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 353.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 347.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 344.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 335.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 332.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 332.44365554546783, + -462.4225184117811, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.94365554546783, + -465.0205946231344, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 335.44365554546783, + -467.6186708344877, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.94365554546783, + -470.21674704584103, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 338.44365554546783, + -472.81482325719435, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.94365554546783, + -475.41289946854766, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 341.44365554546783, + -478.010975679901, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 342.94365554546783, + -480.6090518912543, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 344.44365554546783, + -483.2071281026076, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 345.94365554546783, + -485.8052043139609, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 347.44365554546783, + -488.40328052531424, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 348.94365554546783, + -491.00135673666756, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 350.44365554546783, + -493.5994329480209, + 2.8673008118692973 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 351.94365554546783, + -496.1975091593742, + 2.8673008118692973 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-37_104451352/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-37_104451352/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6691b92c17bb2b7fa532074a56949b456103d47c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-0-37_104451352/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 305.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 308.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 311.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 314.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 317.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 320.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 320.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 320.9485543902344, + 198.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.4485543902344, + 200.75768832802248, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 323.9485543902344, + 203.3557645393758, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 325.4485543902344, + 205.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 325.4485543902344, + 205.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 328.0466306015877, + 207.4538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 330.644706812941, + 208.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.24278302429434, + 210.4538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.84085923564766, + 211.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 338.438935447001, + 213.4538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 341.0370116583543, + 214.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.6350878697076, + 216.4538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 346.2331640810609, + 217.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 346.2331640810609, + 214.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 346.2331640810609, + 211.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 346.2331640810609, + 208.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 346.2331640810609, + 205.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 346.2331640810609, + 202.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.2331640810609, + 199.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 346.2331640810609, + 196.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 346.2331640810609, + 193.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 346.2331640810609, + 190.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 346.2331640810609, + 187.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 346.2331640810609, + 184.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 346.2331640810609, + 181.9538407507291, + -3.1399183260617 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 346.2331640810609, + 181.9538407507291, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 347.7331640810609, + 179.3557645393758, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 349.2331640810609, + 176.75768832802248, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 350.7331640810609, + 174.15961211666917, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 352.2331640810609, + 171.56153590531585, + -3.1399183260617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 353.7331640810609, + 168.96345969396253, + -3.1399183260617 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-19-47_996879552/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-19-47_996879552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0a64ab8090cea281177db370a425749bd59d2c9 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-19-47_996879552/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.30276678713966, + 100.43656522305697, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 310.80276678713966, + 103.03464143441029, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.30276678713966, + 105.6327176457636, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.80276678713966, + 108.23079385711692, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 315.30276678713966, + 110.82887006847024, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.80276678713966, + 113.42694627982355, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 318.30276678713966, + 116.02502249117687, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 319.80276678713966, + 118.62309870253019, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 321.30276678713966, + 121.2211749138835, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.80276678713966, + 123.81925112523682, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 324.30276678713966, + 126.41732733659013, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 325.80276678713966, + 129.01540354794344, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 327.30276678713966, + 131.61347975929675, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 328.80276678713966, + 134.21155597065007, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 330.30276678713966, + 136.80963218200338, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.80276678713966, + 139.4077083933567, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 333.30276678713966, + 142.00578460471002, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.80276678713966, + 144.60386081606333, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 336.30276678713966, + 147.20193702741665, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 337.80276678713966, + 149.80001323876996, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 339.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 339.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 342.30276678713966, + 152.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.70469057578634, + 153.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 337.106614364433, + 155.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 334.5085381530797, + 156.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 331.9104619417264, + 158.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 329.3123857303731, + 159.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 326.71430951901976, + 161.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 324.11623330766645, + 162.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 321.51815709631313, + 164.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 318.9200808849598, + 165.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 316.3220046736065, + 167.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 313.7239284622532, + 168.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 311.12585225089987, + 170.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 308.52777603954655, + 171.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 305.92969982819324, + 173.39808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 303.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 303.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 300.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 297.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 294.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 291.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 288.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 285.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 282.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 279.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 276.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 273.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 270.3316236168399, + 174.89808945012328, + -2.5344509959588786 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.87510986328124, + 176.57235107421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-36-56_10604139/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-36-56_10604139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5558b0ed81646df6ecd3ae6d4d20aa3241cd8219 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-36-56_10604139/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 479.1276522635232, + 389.61049700927936, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.6276522635232, + 387.01242079792604, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 482.1276522635232, + 384.4143445865727, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 483.6276522635232, + 381.8162683752194, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 485.1276522635232, + 379.2181921638661, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.6276522635232, + 376.6201159525128, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 488.1276522635232, + 374.02203974115946, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 489.6276522635232, + 371.42396352980614, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 491.1276522635232, + 368.8258873184528, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 492.6276522635232, + 366.2278111070995, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 494.1276522635232, + 363.6297348957462, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 495.6276522635232, + 361.0316586843929, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 497.1276522635232, + 358.43358247303956, + 1.1080843562835678 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 497.1276522635232, + 358.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 497.1276522635232, + 355.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.1276522635232, + 352.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.1276522635232, + 349.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.1276522635232, + 346.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.1276522635232, + 343.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 497.1276522635232, + 340.43358247303956, + 1.1080843562835678 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.1276522635232, + 340.43358247303956, + 1.1080843562835678 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 497.1276522635232, + 340.43358247303956, + 1.1080843562835678 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.1276522635232, + 340.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 494.5295760521699, + 338.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 491.93149984081657, + 337.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 489.33342362946325, + 335.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 486.73534741810994, + 334.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 484.1372712067566, + 332.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 481.5391949954033, + 331.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 478.94111878405, + 329.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 476.3430425726967, + 328.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 473.74496636134336, + 326.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 471.14689014999004, + 325.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 468.5488139386367, + 323.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 465.9507377272834, + 322.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 463.3526615159301, + 320.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 460.7545853045768, + 319.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 458.15650909322346, + 317.93358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 455.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 455.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 452.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 449.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 446.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 443.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 440.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 437.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 434.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 431.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 428.55843288187015, + 316.43358247303956, + 1.1080843562835678 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-51-24_32321825/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-51-24_32321825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..351104754f7721cf514761367c65dd8f410d2919 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-51-24_32321825/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 489.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 492.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 495.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 495.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 495.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 497.1032715110997, + -199.23344342584267, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.2569458007812, + -224.40541381835936, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 498.6032715110997, + -201.83151963719598, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.1032715110997, + -199.23344342584267, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 495.6032715110997, + -196.63536721448935, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 494.1032715110997, + -194.03729100313603, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 492.6032715110997, + -191.43921479178272, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 491.1032715110997, + -188.8411385804294, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 489.6032715110997, + -186.24306236907609, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 488.1032715110997, + -183.64498615772277, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 486.6032715110997, + -181.04690994636945, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 485.1032715110997, + -178.44883373501614, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 483.6032715110997, + -175.85075752366282, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 482.1032715110997, + -173.2526813123095, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 480.6032715110997, + -170.6546051009562, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 479.1032715110997, + -168.05652888960287, + 2.6168185280204748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 479.1032715110997, + -168.05652888960287, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 476.5051952997464, + -166.55652888960287, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 473.9071190883931, + -165.05652888960287, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 471.30904287703976, + -163.55652888960287, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 468.71096666568644, + -162.05652888960287, + 2.6168185280204748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 466.1128904543331, + -160.55652888960287, + 2.6168185280204748 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_15-55-28_1653265587/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-55-28_1653265587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a478581c7df4679335c1d07ef66878360011570 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_15-55-28_1653265587/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.45805749466956, + 80.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 289.45805749466956, + 83.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 289.45805749466956, + 86.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 289.45805749466956, + 89.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 289.45805749466956, + 92.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 289.45805749466956, + 95.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 289.45805749466956, + 98.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 289.45805749466956, + 101.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.45805749466956, + 104.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 289.45805749466956, + 107.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 289.45805749466956, + 110.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 289.45805749466956, + 113.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 289.45805749466956, + 116.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 289.45805749466956, + 119.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 289.45805749466956, + 122.1750171104543, + 3.0928751093114624 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 289.45805749466956, + 122.1750171104543, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 290.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 290.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 290.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 293.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 296.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 299.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 302.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 305.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 311.95805749466956, + 124.77309332180762, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 313.45805749466956, + 127.37116953316094, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.95805749466956, + 129.96924574451424, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 316.45805749466956, + 132.56732195586756, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.95805749466956, + 135.16539816722087, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 319.45805749466956, + 137.7634743785742, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 320.95805749466956, + 140.3615505899275, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 322.45805749466956, + 142.95962680128082, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 323.95805749466956, + 145.55770301263414, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 325.45805749466956, + 148.15577922398745, + 3.0928751093114624 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 325.45805749466956, + 148.15577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 328.0561337060229, + 149.65577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 330.6542099173762, + 151.15577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 333.2522861287295, + 152.65577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 335.8503623400828, + 154.15577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 338.44843855143614, + 155.65577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 341.04651476278946, + 157.15577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 343.6445909741428, + 158.65577922398745, + 3.0928751093114624 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 346.2426671854961, + 160.15577922398745, + 3.0928751093114624 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_17-15-44_842198392/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-15-44_842198392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a65eaab2930f2a1e244c1a44362f85f83bbff3a3 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-15-44_842198392/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 354.3817935385704, + -397.5094596693143, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.8817935385704, + -400.1075358806676, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 351.3817935385704, + -402.70561209202094, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.8817935385704, + -405.30368830337426, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 348.3817935385704, + -407.9017645147276, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 346.8817935385704, + -410.4998407260809, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.3817935385704, + -413.0979169374342, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 343.8817935385704, + -415.6959931487875, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.3817935385704, + -418.29406936014084, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 340.8817935385704, + -420.89214557149415, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.3817935385704, + -423.49022178284747, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.8817935385704, + -426.0882979942008, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 336.3817935385704, + -428.6863742055541, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 334.8817935385704, + -431.2844504169074, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.3817935385704, + -433.88252662826073, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.8817935385704, + -436.48060283961405, + 3.2549999751519376 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 331.8817935385704, + -436.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 331.8817935385704, + -439.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.8817935385704, + -442.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 331.8817935385704, + -445.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 331.8817935385704, + -448.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.8817935385704, + -451.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.8817935385704, + -454.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.8817935385704, + -457.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 331.8817935385704, + -460.48060283961405, + 3.2549999751519376 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 331.8817935385704, + -460.48060283961405, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.3817935385704, + -463.07867905096737, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.8817935385704, + -465.6767552623207, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.3817935385704, + -468.274831473674, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 337.8817935385704, + -470.8729076850273, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.3817935385704, + -473.47098389638063, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 340.8817935385704, + -476.06906010773395, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 342.3817935385704, + -478.66713631908726, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 343.8817935385704, + -481.2652125304406, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 345.3817935385704, + -483.8632887417939, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 346.8817935385704, + -486.4613649531472, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 348.3817935385704, + -489.0594411645005, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 349.8817935385704, + -491.65751737585384, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 351.3817935385704, + -494.25559358720716, + 3.2549999751519376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 352.8817935385704, + -496.8536697985605, + 3.2549999751519376 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_17-32-13_905894996/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-32-13_905894996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dc82969e606ead9ba1942c793d8ece15fbd61a9 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-32-13_905894996/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 442.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 445.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 448.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 451.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 454.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.86034747213006, + 349.32693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 457.4584236834834, + 347.82693565884523, + 2.1843124707532455 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 457.4584236834834, + 347.82693565884523, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 458.9584236834834, + 345.2288594474919, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 460.4584236834834, + 342.6307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 460.4584236834834, + 342.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 463.0564998948367, + 341.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 465.65457610619, + 339.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 468.2526523175433, + 338.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 470.85072852889664, + 336.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 473.44880474024995, + 335.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 476.04688095160327, + 333.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 478.6449571629566, + 332.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 481.2430333743099, + 330.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 483.8411095856632, + 329.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 486.43918579701653, + 327.6307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 489.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 489.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 492.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 495.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 498.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 495.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 492.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 489.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 486.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 483.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 480.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 477.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 474.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 471.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 468.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 465.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 462.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 459.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 456.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 453.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 450.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 447.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 444.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 441.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 438.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 435.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 432.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 432.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 432.03726200836985, + 326.1307832361386, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 430.53726200836985, + 323.5327070247853, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 429.03726200836985, + 320.93463081343197, + 2.1843124707532455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 427.53726200836985, + 318.33655460207865, + 2.1843124707532455 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_17-54-53_276217690/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-54-53_276217690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40281468ca1f9303637df4c2e1e4b1f6978c4006 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_17-54-53_276217690/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 426.40578793532273, + -288.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 426.40578793532273, + -285.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 426.40578793532273, + -282.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 426.40578793532273, + -279.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 426.40578793532273, + -276.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 426.40578793532273, + -273.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 426.40578793532273, + -270.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.40578793532273, + -267.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 426.40578793532273, + -264.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 426.40578793532273, + -261.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 426.40578793532273, + -258.84276847884826, + -3.917506004671554 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 426.40578793532273, + -258.84276847884826, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 427.90578793532273, + -256.24469226749494, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 429.40578793532273, + -253.64661605614162, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 430.90578793532273, + -251.0485398447883, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 432.40578793532273, + -248.450463633435, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 433.90578793532273, + -245.85238742208168, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 435.40578793532273, + -243.25431121072836, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 436.90578793532273, + -240.65623499937504, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 435.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 432.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 429.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 426.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 423.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 420.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 417.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 414.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 411.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 408.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 405.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 402.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 399.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 396.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 393.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 390.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 387.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 384.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 381.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 378.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 375.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 372.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 369.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 366.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 366.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 366.40578793532273, + -238.05815878802173, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 364.90578793532273, + -235.4600825766684, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 363.40578793532273, + -232.8620063653151, + -3.917506004671554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 361.90578793532273, + -230.26393015396178, + -3.917506004671554 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_18-8-48_25701533/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_18-8-48_25701533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b82e61e6e02de257c59c240ece2ce225900c40b8 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_18-8-48_25701533/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 291.2401583297487, + 199.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.838234541102, + 198.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 296.4363107524553, + 196.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 299.03438696380863, + 195.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.63246317516194, + 193.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 304.23053938651526, + 192.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.8286155978686, + 190.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 309.4266918092219, + 189.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 312.0247680205752, + 187.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 314.6228442319285, + 186.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 317.22092044328184, + 184.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 319.81899665463516, + 183.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.4170728659885, + 181.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 325.0151490773418, + 180.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 327.6132252886951, + 178.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 330.2113015000484, + 177.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.80937771140174, + 175.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 335.40745392275505, + 174.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 338.00553013410837, + 172.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 340.6036063454617, + 171.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.201682556815, + 169.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 340.6036063454617, + 168.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 338.00553013410837, + 166.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 335.40745392275505, + 165.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 332.80937771140174, + 163.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 330.2113015000484, + 162.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 327.6132252886951, + 160.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 325.0151490773418, + 159.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 322.4170728659885, + 157.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 319.81899665463516, + 156.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 317.22092044328184, + 154.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 314.6228442319285, + 153.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 312.0247680205752, + 151.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 309.4266918092219, + 150.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.8286155978686, + 148.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 304.23053938651526, + 147.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.63246317516194, + 145.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 299.03438696380863, + 144.1756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 296.4363107524553, + 142.6756742666289, + -1.6418215090808137 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 293.838234541102, + 141.1756742666289, + -1.6418215090808137 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_2-1-12_1142930164/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-1-12_1142930164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd5de5dde92320fe944f8c248f6bcea567bd97b4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-1-12_1142930164/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 300.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 303.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 306.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 309.2857253231264, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.88380153447974, + 199.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 314.48187774583306, + 200.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 317.0799539571864, + 202.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 319.6780301685397, + 203.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.276106379893, + 205.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 324.8741825912463, + 206.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 327.47225880259964, + 208.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 330.07033501395296, + 209.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.6684112253063, + 211.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.2664874366596, + 212.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.8645636480129, + 214.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 340.4626398593662, + 215.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.06071607071954, + 217.24322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 345.65879228207285, + 218.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 345.65879228207285, + 215.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 345.65879228207285, + 212.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 345.65879228207285, + 209.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 345.65879228207285, + 206.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 345.65879228207285, + 203.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 345.65879228207285, + 200.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 345.65879228207285, + 197.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 345.65879228207285, + 194.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 345.65879228207285, + 191.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 345.65879228207285, + 188.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 345.65879228207285, + 185.74322000248432, + 1.0871483111573434 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 345.65879228207285, + 185.74322000248432, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 347.15879228207285, + 183.145143791131, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 348.65879228207285, + 180.5470675797777, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 350.15879228207285, + 177.94899136842437, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 351.65879228207285, + 175.35091515707106, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 353.15879228207285, + 172.75283894571774, + 1.0871483111573434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 354.65879228207285, + 170.15476273436443, + 1.0871483111573434 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_2-5-38_2089816339/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-5-38_2089816339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ede2237751b8e8ce21cfca62ada0bc5185c7808 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-5-38_2089816339/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 349.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 346.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 343.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 340.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 337.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 334.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 331.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 328.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 325.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 316.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 313.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 310.7510522368086, + 137.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 313.34912844816193, + 138.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 315.94720465951525, + 140.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.54528087086857, + 141.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 321.1433570822219, + 143.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 323.7414332935752, + 144.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.3395095049285, + 146.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 328.93758571628183, + 147.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 331.53566192763515, + 149.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 334.13373813898846, + 150.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.7318143503418, + 152.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 339.3298905616951, + 153.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 341.9279667730484, + 155.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 344.5260429844017, + 156.5741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 347.12411919575504, + 158.0741472648885, + 4.043783726101896 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 349.72219540710836, + 159.5741472648885, + 4.043783726101896 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_2-9-47_234262547/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-9-47_234262547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1438cb469a0bed020dbecf4bf4dcc93fdf73fde9 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_2-9-47_234262547/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 326.2537856610078, + 146.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 326.2537856610078, + 143.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 326.2537856610078, + 140.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 326.2537856610078, + 137.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.2537856610078, + 134.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.2537856610078, + 131.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 326.2537856610078, + 128.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 326.2537856610078, + 125.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 326.2537856610078, + 122.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 326.2537856610078, + 119.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 326.2537856610078, + 116.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.2537856610078, + 113.88876737859823, + -4.090565773697718 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.2537856610078, + 113.88876737859823, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 324.7537856610078, + 111.29069116724492, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 323.2537856610078, + 108.6926149558916, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 321.7537856610078, + 106.09453874453828, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.2537856610078, + 103.49646253318497, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 318.7537856610078, + 100.89838632183165, + -4.090565773697718 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 318.7537856610078, + 100.89838632183165, + -4.090565773697718 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.7537856610078, + 100.89838632183165, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.2537856610078, + 98.30031011047834, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.7537856610078, + 95.70223389912502, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 323.2537856610078, + 93.1041576877717, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 324.7537856610078, + 90.50608147641839, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.2537856610078, + 87.90800526506507, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.7537856610078, + 85.30992905371176, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 329.2537856610078, + 82.71185284235844, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 330.7537856610078, + 80.11377663100512, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 332.2537856610078, + 77.51570041965181, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 333.7537856610078, + 74.91762420829849, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 335.2537856610078, + 72.31954799694518, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 336.7537856610078, + 69.72147178559186, + -4.090565773697718 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 336.7537856610078, + 69.72147178559186, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 336.7537856610078, + 66.72147178559186, + -4.090565773697718 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 336.7537856610078, + 63.72147178559186, + -4.090565773697718 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_3-14-34_487073847/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_3-14-34_487073847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec01099e040bb8a951e25ef12ffa6b5fad7c359d --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_3-14-34_487073847/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 420.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 417.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 402.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 399.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 396.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 396.14606148207156, + -505.0979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 393.54798527071824, + -506.5979458788882, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 392.04798527071824, + -509.1960220902415, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 390.54798527071824, + -511.79409830159483, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 389.04798527071824, + -514.3921745129481, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 387.54798527071824, + -516.9902507243014, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 386.04798527071824, + -519.5883269356548, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 384.54798527071824, + -522.1864031470081, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 383.04798527071824, + -524.7844793583615, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 381.54798527071824, + -527.3825555697149, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 380.04798527071824, + -529.9806317810683, + 4.438041414516585 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 378.54798527071824, + -532.5787079924216, + 4.438041414516585 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_4-12-55_636600769/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-12-55_636600769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e65af8165fb33651dd19725fb121581ee67c168 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-12-55_636600769/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 314.7614365855424, + 190.79434528690754, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 313.2614365855424, + 188.19626907555423, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 311.7614365855424, + 185.5981928642009, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.2614365855424, + 183.0001166528476, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 308.7614365855424, + 180.40204044149428, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.2614365855424, + 177.80396423014096, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 305.7614365855424, + 175.20588801878765, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 304.2614365855424, + 172.60781180743433, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 302.7614365855424, + 170.00973559608101, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.2614365855424, + 167.4116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 299.7614365855424, + 164.81358317337438, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.2614365855424, + 162.21550696202107, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.7614365855424, + 159.61743075066775, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.2614365855424, + 157.01935453931443, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.7614365855424, + 154.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.7614365855424, + 154.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 293.7614365855424, + 151.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 293.7614365855424, + 148.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.7614365855424, + 145.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 293.7614365855424, + 142.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 293.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 293.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 293.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 293.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 293.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 296.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 314.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 320.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 323.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 323.7614365855424, + 139.42127832796112, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 325.2614365855424, + 142.01935453931443, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 326.7614365855424, + 144.61743075066775, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 328.2614365855424, + 147.21550696202107, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 329.7614365855424, + 149.81358317337438, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 331.2614365855424, + 152.4116593847277, + 0.5259052152182289 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 331.2614365855424, + 152.4116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 333.85951279689573, + 153.9116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 336.45758900824904, + 155.4116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 339.05566521960236, + 156.9116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 341.6537414309557, + 158.4116593847277, + 0.5259052152182289 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 344.251817642309, + 159.9116593847277, + 0.5259052152182289 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_4-28-5_1089966067/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-28-5_1089966067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c132c63bd7efb17f963bcf9ab1fe1c525936378 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-28-5_1089966067/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.6260412420809, + -492.1141706540712, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 287.1260412420809, + -489.5160944427179, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 288.6260412420809, + -486.91801823136456, + -4.240391123960286 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 288.6260412420809, + -486.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.2241174534342, + -485.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 293.8221936647875, + -483.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 296.4202698761408, + -482.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.01834608749414, + -480.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 301.61642229884745, + -479.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.21449851020077, + -477.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 306.8125747215541, + -476.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 309.4106509329074, + -474.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 312.0087271442607, + -473.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 314.60680335561403, + -471.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 317.20487956696735, + -470.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 319.80295577832067, + -468.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 322.401031989674, + -467.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 324.9991082010273, + -465.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 327.5971844123806, + -464.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.19526062373393, + -462.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.5971844123806, + -461.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.9991082010273, + -459.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 322.401031989674, + -458.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 319.80295577832067, + -456.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.20487956696735, + -455.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.60680335561403, + -453.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.0087271442607, + -452.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.4106509329074, + -450.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 306.8125747215541, + -449.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 304.21449851020077, + -447.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 301.61642229884745, + -446.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.01834608749414, + -444.91801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 296.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 293.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 290.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 287.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 284.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 281.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 275.4202698761408, + -443.41801823136456, + -4.240391123960286 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_4-37-21_523782140/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-37-21_523782140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b14ef13d6b8d4090b550de7b43e637edbc74dbf --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-37-21_523782140/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 425.25886445735586, + 243.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 422.66078824600254, + 241.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 420.0627120346492, + 240.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.4646358232959, + 238.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.8665596119426, + 237.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 412.2684834005893, + 235.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 409.67040718923596, + 234.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.07233097788264, + 232.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 404.4742547665293, + 231.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.876178555176, + 229.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 399.2781023438227, + 228.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 396.6800261324694, + 226.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 394.08194992111606, + 225.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 391.48387370976275, + 223.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 388.88579749840943, + 222.32710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 386.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 386.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 383.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 380.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 377.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 374.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 371.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 368.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 365.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 359.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 359.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 359.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 359.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 359.2877212870561, + 220.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 359.2877212870561, + 217.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 359.2877212870561, + 214.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 359.2877212870561, + 211.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 359.2877212870561, + 208.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 359.2877212870561, + 205.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 359.2877212870561, + 202.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 359.2877212870561, + 199.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 359.2877212870561, + 196.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 359.2877212870561, + 193.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 359.2877212870561, + 190.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 359.2877212870561, + 187.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 359.2877212870561, + 184.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 359.2877212870561, + 181.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 359.2877212870561, + 178.82710643973684, + -3.816051739823415 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 359.2877212870561, + 178.82710643973684, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 357.7877212870561, + 176.22903022838352, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 356.2877212870561, + 173.6309540170302, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 354.7877212870561, + 171.0328778056769, + -3.816051739823415 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 353.2877212870561, + 168.43480159432357, + -3.816051739823415 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_4-55-6_1527793660/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-55-6_1527793660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a463cb94fc0826890501f8fc4d177639c7092c0b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_4-55-6_1527793660/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.3128020512753, + -375.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.3128020512753, + -378.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 262.3128020512753, + -381.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 262.3128020512753, + -384.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 262.3128020512753, + -387.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.3128020512753, + -390.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.3128020512753, + -393.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.3128020512753, + -396.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.3128020512753, + -399.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.3128020512753, + -402.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 262.3128020512753, + -405.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.3128020512753, + -408.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.3128020512753, + -411.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 262.3128020512753, + -414.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.3128020512753, + -417.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.3128020512753, + -420.36830020176774, + 3.564310148996517 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.3128020512753, + -420.36830020176774, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 263.8128020512753, + -422.96637641312105, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 265.3128020512753, + -425.56445262447437, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 266.8128020512753, + -428.1625288358277, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.3128020512753, + -430.760605047181, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 269.8128020512753, + -433.3586812585343, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 271.3128020512753, + -435.95675746988763, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 272.8128020512753, + -438.55483368124095, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 274.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 274.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 277.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 280.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 283.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 286.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 286.3128020512753, + -441.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.9108782626286, + -442.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 291.50895447398193, + -444.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.10703068533525, + -445.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.70510689668856, + -447.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 299.3031831080419, + -448.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 301.9012593193952, + -450.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 304.4993355307485, + -451.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 307.0974117421018, + -453.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.69548795345514, + -454.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 312.29356416480846, + -456.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 314.8916403761618, + -457.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 317.4897165875151, + -459.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 320.0877927988684, + -460.65290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 322.6858690102217, + -462.15290989259427, + 3.564310148996517 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.6858690102217, + -462.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 325.6858690102217, + -462.15290989259427, + 3.564310148996517 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 328.6858690102217, + -462.15290989259427, + 3.564310148996517 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_5-42-8_1182176620/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_5-42-8_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..404a00e3c56c92fb915029af94ed9cdff7f299e4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_5-42-8_1182176620/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 290.3334169081607, + 70.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.3334169081607, + 73.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 290.3334169081607, + 76.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.3334169081607, + 79.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 290.3334169081607, + 82.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.3334169081607, + 85.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 290.3334169081607, + 88.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 290.3334169081607, + 91.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.3334169081607, + 94.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 290.3334169081607, + 97.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 290.3334169081607, + 100.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 290.3334169081607, + 103.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.3334169081607, + 106.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.3334169081607, + 109.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 290.3334169081607, + 112.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 290.3334169081607, + 115.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.3334169081607, + 118.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 290.3334169081607, + 121.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.3334169081607, + 124.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 290.3334169081607, + 127.21881635222132, + 0.3428159716791672 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 290.3334169081607, + 127.21881635222132, + 0.3428159716791672 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 290.3334169081607, + 127.21881635222132, + 0.3428159716791672 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 290.3334169081607, + 127.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 292.931493119514, + 128.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.52956933086733, + 130.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.12764554222065, + 131.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 300.72572175357396, + 133.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.3237979649273, + 134.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.9218741762806, + 136.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.5199503876339, + 137.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.1180265989872, + 139.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 313.71610281034054, + 140.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 316.31417902169386, + 142.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 318.9122552330472, + 143.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 321.5103314444005, + 145.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 324.1084076557538, + 146.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 326.7064838671071, + 148.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.30456007846044, + 149.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 331.90263628981376, + 151.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 334.5007125011671, + 152.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 337.0987887125204, + 154.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 339.6968649238737, + 155.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 342.294941135227, + 157.21881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 344.89301734658034, + 158.71881635222132, + 0.3428159716791672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 347.49109355793365, + 160.21881635222132, + 0.3428159716791672 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_6-12-40_251836754/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-12-40_251836754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56adca5aa969c7e6a5de79774e1d7567a9875c88 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-12-40_251836754/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 453.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 456.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 459.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 462.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 465.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 465.3325403784922, + 341.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.9306165898455, + 339.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.5286928011988, + 338.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.12676901255213, + 336.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 475.72484522390545, + 335.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 478.32292143525876, + 333.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.9209976466121, + 332.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 483.5190738579654, + 330.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 486.1171500693187, + 329.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 488.715226280672, + 327.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 491.31330249202534, + 326.23499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 493.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 493.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 496.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 496.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 496.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 496.91137870337866, + 324.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 496.91137870337866, + 321.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 496.91137870337866, + 318.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 496.91137870337866, + 315.73499941224577, + 2.3426369805087743 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 496.91137870337866, + 315.73499941224577, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 498.41137870337866, + 313.13692320089245, + 2.3426369805087743 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 499.91137870337866, + 310.53884698953914, + 2.3426369805087743 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.4336791992187, + 274.24072265625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_6-13-39_1656241707/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-13-39_1656241707/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6e857b4e4cdccbacdf06c156ca1c59d15b95f63 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-13-39_1656241707/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 296.124330706562, + -521.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.7224069179153, + -522.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 301.3204831292686, + -524.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 303.9185593406219, + -525.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 306.51663555197524, + -527.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 309.11471176332856, + -528.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 311.7127879746819, + -530.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 314.3108641860352, + -531.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 316.9089403973885, + -533.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 319.5070166087418, + -534.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.10509282009514, + -536.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 324.70316903144845, + -537.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 327.30124524280177, + -539.405864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 329.8993214541551, + -540.905864166312, + 4.337385264664311 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 329.8993214541551, + -540.905864166312, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 331.3993214541551, + -543.5039403776652, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.8993214541551, + -546.1020165890186, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.3993214541551, + -548.700092800372, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 335.8993214541551, + -551.2981690117253, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 337.3993214541551, + -553.8962452230787, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.8993214541551, + -556.4943214344321, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "turn left", + "value": 30, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 340.3993214541551, + -559.0923976457855, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 341.8993214541551, + -556.4943214344321, + 4.337385264664311 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.3993214541551, + -553.8962452230787, + 4.337385264664311 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_6-17-16_1104933720/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-17-16_1104933720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8057c4f9148101e89f3b928abb2aaec29b3a78fd --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-17-16_1104933720/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 374.0299212354494, + -522.5602953299992, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 372.5299212354494, + -519.9622191186459, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 371.0299212354494, + -517.3641429072925, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.5299212354494, + -514.7660666959391, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.0299212354494, + -512.1679904845857, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 366.5299212354494, + -509.5699142732324, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.0299212354494, + -506.9718380618791, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 363.5299212354494, + -504.3737618505258, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 362.0299212354494, + -501.7756856391725, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.5299212354494, + -499.17760942781916, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 359.0299212354494, + -496.57953321646585, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 357.5299212354494, + -493.98145700511253, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 356.0299212354494, + -491.3833807937592, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.5299212354494, + -488.7853045824059, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 353.0299212354494, + -486.1872283710526, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 351.5299212354494, + -483.58915215969927, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.0299212354494, + -480.99107594834595, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 348.5299212354494, + -478.39299973699264, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 347.0299212354494, + -475.7949235256393, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 345.5299212354494, + -473.196847314286, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 344.0299212354494, + -470.5987711029327, + 3.078168433495529 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.0299212354494, + -470.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 341.4318450240961, + -469.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.8337688127428, + -467.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 336.2356926013895, + -466.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 333.63761639003616, + -464.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 331.03954017868284, + -463.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.4414639673295, + -461.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 325.8433877559762, + -460.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 323.2453115446229, + -458.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 320.6472353332696, + -457.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 318.04915912191626, + -455.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 315.45108291056295, + -454.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 312.85300669920963, + -452.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 310.2549304878563, + -451.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.656854276503, + -449.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.0587780651497, + -448.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 302.46070185379637, + -446.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 299.86262564244305, + -445.0987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 297.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 297.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 294.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 291.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 288.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 285.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 279.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.26454943108973, + -443.5987711029327, + 3.078168433495529 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_6-29-14_284327308/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-29-14_284327308/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..762a8245c459213837de1e2f3ef8919b16b2cf8c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_6-29-14_284327308/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 165.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 162.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 159.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 156.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 153.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 150.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 147.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 144.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 141.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 138.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 135.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 132.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 129.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 117.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 114.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 111.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 102.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 99.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 99.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.4926914768518, + -330.46293684947517, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 97.9926914768518, + -327.86486063812185, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 96.4926914768518, + -325.26678442676854, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 94.9926914768518, + -322.6687082154152, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 93.4926914768518, + -320.0706320040619, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 91.9926914768518, + -317.4725557927086, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 90.4926914768518, + -314.8744795813553, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 88.9926914768518, + -312.27640337000196, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 87.4926914768518, + -309.67832715864864, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 85.9926914768518, + -307.0802509472953, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 84.4926914768518, + -304.482174735942, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 82.9926914768518, + -301.8840985245887, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 81.4926914768518, + -299.2860223132354, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 79.9926914768518, + -296.68794610188206, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 78.4926914768518, + -294.08986989052875, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 76.9926914768518, + -291.49179367917543, + -2.500587240095187 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 76.9926914768518, + -291.49179367917543, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 76.9926914768518, + -288.49179367917543, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 76.9926914768518, + -285.49179367917543, + -2.500587240095187 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 76.9926914768518, + -282.49179367917543, + -2.500587240095187 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_7-16-42_1922265375/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-16-42_1922265375/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18ac5fbdbb9251b9d6b6b86635f5d3b8329ad2e7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-16-42_1922265375/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 271.8385608335155, + 90.87500087241688, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 273.3385608335155, + 93.47307708377019, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 274.8385608335155, + 96.07115329512351, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 276.3385608335155, + 98.66922950647682, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 277.8385608335155, + 101.26730571783014, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 279.3385608335155, + 103.86538192918346, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.8385608335155, + 106.46345814053677, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 282.3385608335155, + 109.06153435189009, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 283.8385608335155, + 111.6596105632434, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.3385608335155, + 114.25768677459672, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 286.8385608335155, + 116.85576298595004, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.3385608335155, + 119.45383919730335, + -0.49460121704998006 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.3385608335155, + 119.45383919730335, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 288.3385608335155, + 122.45383919730335, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 288.3385608335155, + 125.45383919730335, + -0.49460121704998006 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 288.3385608335155, + 125.45383919730335, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 286.8385608335155, + 128.05191540865667, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.3385608335155, + 130.64999162000998, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 283.8385608335155, + 133.2480678313633, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.3385608335155, + 135.84614404271662, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 280.8385608335155, + 138.44422025406993, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 279.3385608335155, + 141.04229646542325, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 277.8385608335155, + 143.64037267677656, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.3385608335155, + 146.23844888812988, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.8385608335155, + 148.8365250994832, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 273.3385608335155, + 151.4346013108365, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 271.8385608335155, + 154.03267752218983, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 270.3385608335155, + 156.63075373354314, + -0.49460121704998006 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 270.3385608335155, + 156.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 270.3385608335155, + 159.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 270.3385608335155, + 162.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 270.3385608335155, + 165.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 270.3385608335155, + 168.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 270.3385608335155, + 171.63075373354314, + -0.49460121704998006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 270.3385608335155, + 174.63075373354314, + -0.49460121704998006 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.87510986328124, + 176.57235107421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_7-22-30_1075259134/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-22-30_1075259134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac55fbfd0c45deae3e71d415afcded38c9617ef7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-22-30_1075259134/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 315.5400896733208, + -383.7316177227864, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 314.0400896733208, + -386.3296939341397, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.5400896733208, + -388.927770145493, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.0400896733208, + -391.52584635684633, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.5400896733208, + -394.12392256819965, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 308.0400896733208, + -396.72199877955296, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.5400896733208, + -399.3200749909063, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 305.0400896733208, + -401.9181512022596, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.5400896733208, + -404.5162274136129, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.0400896733208, + -407.1143036249662, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.5400896733208, + -409.71237983631954, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 299.0400896733208, + -412.31045604767286, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.5400896733208, + -414.9085322590262, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 296.0400896733208, + -417.5066084703795, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.5400896733208, + -420.1046846817328, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.0400896733208, + -422.7027608930861, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 291.5400896733208, + -425.30083710443944, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 290.0400896733208, + -427.89891331579275, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.5400896733208, + -430.49698952714607, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 287.0400896733208, + -433.0950657384994, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.5400896733208, + -435.6931419498527, + 2.6093830219510483 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 285.5400896733208, + -435.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 282.94201346196746, + -437.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 280.34393725061415, + -438.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 277.74586103926083, + -440.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 275.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 278.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 281.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 284.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 287.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 290.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 293.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 296.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 299.1477848279075, + -441.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 301.74586103926083, + -443.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 304.34393725061415, + -444.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 306.94201346196746, + -446.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 309.5400896733208, + -447.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 312.1381658846741, + -449.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 314.7362420960274, + -450.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 317.3343183073807, + -452.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 319.93239451873404, + -453.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 322.53047073008736, + -455.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 325.1285469414407, + -456.6931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 327.726623152794, + -458.1931419498527, + 2.6093830219510483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 330.3246993641473, + -459.6931419498527, + 2.6093830219510483 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_7-51-28_1084384795/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-51-28_1084384795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a8d1f90ae63eba72278d8b732a358bc616a9f97 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-51-28_1084384795/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 289.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 298.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 301.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 304.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 307.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 313.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 316.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 322.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 325.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 328.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 331.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 334.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 337.8806159718683, + 161.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 340.4786921832216, + 162.83333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 343.0767683945749, + 164.33333459531576, + -4.801266908493824 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 343.0767683945749, + 164.33333459531576, + -4.801266908493824 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 343.0767683945749, + 164.33333459531576, + -4.801266908493824 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 343.0767683945749, + 164.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 343.0767683945749, + 167.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 343.0767683945749, + 170.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.0767683945749, + 173.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 343.0767683945749, + 176.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 343.0767683945749, + 179.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 343.0767683945749, + 182.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 343.0767683945749, + 185.33333459531576, + -4.801266908493824 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 343.0767683945749, + 185.33333459531576, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 344.5767683945749, + 187.93141080666908, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 346.0767683945749, + 190.5294870180224, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 347.5767683945749, + 193.1275632293757, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 349.0767683945749, + 195.72563944072903, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 350.5767683945749, + 198.32371565208234, + -4.801266908493824 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 350.5767683945749, + 198.32371565208234, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 350.5767683945749, + 201.32371565208234, + -4.801266908493824 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 350.5767683945749, + 204.32371565208234, + -4.801266908493824 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_7-57-41_1396028861/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-57-41_1396028861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..029e013cef548bb44aa61c6d1eed1ad4db3a5535 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_7-57-41_1396028861/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 315.08071049259564, + 69.34225884220132, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 313.58071049259564, + 71.94033505355463, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.08071049259564, + 74.53841126490795, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.58071049259564, + 77.13648747626127, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.08071049259564, + 79.73456368761458, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.58071049259564, + 82.3326398989679, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.08071049259564, + 84.93071611032121, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 304.58071049259564, + 87.52879232167453, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.08071049259564, + 90.12686853302785, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.58071049259564, + 92.72494474438116, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.08071049259564, + 95.32302095573448, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.58071049259564, + 97.9210971670878, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.08071049259564, + 100.51917337844111, + 3.9211050459278987 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.08071049259564, + 100.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.08071049259564, + 103.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.08071049259564, + 106.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.08071049259564, + 109.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.08071049259564, + 112.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.08071049259564, + 115.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.08071049259564, + 118.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.08071049259564, + 121.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.08071049259564, + 124.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.08071049259564, + 127.51917337844111, + 3.9211050459278987 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.08071049259564, + 127.51917337844111, + 3.9211050459278987 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.08071049259564, + 127.51917337844111, + 3.9211050459278987 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.08071049259564, + 127.51917337844111, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.67878670394896, + 129.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.2768629153023, + 130.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.8749391266556, + 132.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.4730153380089, + 133.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 310.0710915493622, + 135.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.66916776071554, + 136.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 315.26724397206885, + 138.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 317.86532018342217, + 139.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 320.4633963947755, + 141.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.0614726061288, + 142.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 325.6595488174821, + 144.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 328.25762502883543, + 145.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 330.85570124018875, + 147.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 333.45377745154207, + 148.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 336.0518536628954, + 150.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 338.6499298742487, + 151.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 341.248006085602, + 153.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 343.84608229695533, + 154.5191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 346.44415850830865, + 156.0191733784411, + 3.9211050459278987 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 346.44415850830865, + 156.0191733784411, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 347.94415850830865, + 158.61724958979443, + 3.9211050459278987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 349.44415850830865, + 161.21532580114774, + 3.9211050459278987 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_8-18-19_698374759/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-18-19_698374759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97314c61f27356680add941f3805b74cec92f3ed --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-18-19_698374759/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 256.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 262.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 268.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 271.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 274.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 274.7412631746866, + 69.96168523891464, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 276.2412631746866, + 72.55976145026796, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 277.7412631746866, + 75.15783766162127, + -4.515711494554467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.7412631746866, + 75.15783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 280.3393393860399, + 76.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.9374155973932, + 78.15783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 285.53549180874654, + 79.65783766162127, + -4.515711494554467 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.53549180874654, + 79.65783766162127, + -4.515711494554467 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.53549180874654, + 79.65783766162127, + -4.515711494554467 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.53549180874654, + 79.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 285.53549180874654, + 82.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 285.53549180874654, + 85.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 285.53549180874654, + 88.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 285.53549180874654, + 91.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 285.53549180874654, + 94.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 285.53549180874654, + 97.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 285.53549180874654, + 100.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 285.53549180874654, + 103.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 285.53549180874654, + 106.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 285.53549180874654, + 109.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 285.53549180874654, + 112.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 285.53549180874654, + 115.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 285.53549180874654, + 118.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 285.53549180874654, + 121.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 285.53549180874654, + 124.65783766162127, + -4.515711494554467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 285.53549180874654, + 124.65783766162127, + -4.515711494554467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 285.53549180874654, + 124.65783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 288.13356802009986, + 126.15783766162127, + -4.515711494554467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 290.7316442314532, + 127.65783766162127, + -4.515711494554467 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_8-39-48_1804765595/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-39-48_1804765595/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f12fe3e16ac2634eacbea05f03d91b0514f0ed45 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-39-48_1804765595/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.75030507981631, + -400.3670005177731, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 240.25030507981631, + -402.9650767291264, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 241.75030507981631, + -405.5631529404797, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 243.25030507981631, + -408.161229151833, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.75030507981631, + -410.75930536318634, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 246.25030507981631, + -413.35738157453966, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 247.75030507981631, + -415.955457785893, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 249.25030507981631, + -418.5535339972463, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 250.75030507981631, + -421.1516102085996, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 252.25030507981631, + -423.7496864199529, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 253.75030507981631, + -426.34776263130624, + -1.8314133667155823 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 253.75030507981631, + -426.34776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 256.34838129116963, + -427.84776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 258.94645750252295, + -429.34776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 261.54453371387626, + -430.84776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 264.1426099252296, + -432.34776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 266.7406861365829, + -433.84776263130624, + -1.8314133667155823 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 266.7406861365829, + -433.84776263130624, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 268.2406861365829, + -436.44583884265955, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 269.7406861365829, + -439.04391505401287, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 271.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 271.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 271.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 277.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 280.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 283.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 286.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 289.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 292.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 295.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 295.2406861365829, + -441.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.8387623479362, + -443.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.4368385592895, + -444.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 303.03491477064284, + -446.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.63299098199616, + -447.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 308.2310671933495, + -449.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 310.8291434047028, + -450.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 313.4272196160561, + -452.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 316.0252958274094, + -453.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 318.62337203876274, + -455.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 321.22144825011605, + -456.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 323.81952446146937, + -458.1419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 326.4176006728227, + -459.6419912653662, + -1.8314133667155823 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 329.015676884176, + -461.1419912653662, + -1.8314133667155823 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_8-46-57_1285859963/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-46-57_1285859963/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..046a92a4f5962e21911429b5c68ced91f20448c2 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-46-57_1285859963/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 483.8125928659054, + 269.6888699049304, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.3125928659054, + 272.28694611628373, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.8125928659054, + 274.88502232763705, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 488.3125928659054, + 277.48309853899036, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 489.8125928659054, + 280.0811747503437, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 491.3125928659054, + 282.679250961697, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 492.8125928659054, + 285.2773271730503, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 494.3125928659054, + 287.8754033844036, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 495.8125928659054, + 290.47347959575694, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.3125928659054, + 293.07155580711026, + -2.648019977329114 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.3125928659054, + 293.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.3125928659054, + 296.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 497.3125928659054, + 299.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 497.3125928659054, + 302.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 497.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 497.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 497.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 491.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 488.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 485.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 482.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 479.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 473.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 470.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 467.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 464.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 458.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 455.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 452.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 449.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 446.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 446.3125928659054, + 305.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 443.7145166545521, + 306.57155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 441.11644044319877, + 308.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 438.51836423184545, + 309.57155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 435.92028802049214, + 311.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 433.3222118091388, + 312.57155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 430.7241355977855, + 314.07155580711026, + -2.648019977329114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 428.1260593864322, + 315.57155580711026, + -2.648019977329114 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_8-48-19_1172895038/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-48-19_1172895038/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c30e06455de56fab5b1e24d5c0c0c1556a5e17ff --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-48-19_1172895038/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 294.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 297.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.3023758361206, + 194.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 299.9004520474739, + 192.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 302.4985282588272, + 191.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 305.0966044701805, + 189.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.69468068153384, + 188.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 310.29275689288716, + 186.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 312.89083310424047, + 185.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 315.4889093155938, + 183.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 318.0869855269471, + 182.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 320.6850617383004, + 180.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 323.28313794965374, + 179.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 325.88121416100705, + 177.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 328.47929037236037, + 176.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.0773665837137, + 174.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 333.675442795067, + 173.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 336.2735190064203, + 171.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.87159521777363, + 170.25643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 341.46967142912695, + 168.75643401070067, + -4.277059310983336 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 341.46967142912695, + 168.75643401070067, + -4.277059310983336 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 341.46967142912695, + 168.75643401070067, + -4.277059310983336 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 341.46967142912695, + 168.75643401070067, + -4.277059310983336 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 341.46967142912695, + 168.75643401070067, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 339.96967142912695, + 166.15835779934736, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 338.46967142912695, + 163.56028158799404, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.96967142912695, + 160.96220537664072, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 335.46967142912695, + 158.3641291652874, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 333.96967142912695, + 155.7660529539341, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 332.46967142912695, + 153.16797674258078, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 330.96967142912695, + 150.56990053122746, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 329.46967142912695, + 147.97182431987414, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.96967142912695, + 145.37374810852083, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 326.46967142912695, + 142.7756718971675, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 324.96967142912695, + 140.1775956858142, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 323.46967142912695, + 137.57951947446088, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 321.96967142912695, + 134.98144326310756, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 320.46967142912695, + 132.38336705175425, + -4.277059310983336 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 320.46967142912695, + 132.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 320.46967142912695, + 129.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 320.46967142912695, + 126.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 320.46967142912695, + 123.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 320.46967142912695, + 120.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 320.46967142912695, + 117.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 320.46967142912695, + 114.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 320.46967142912695, + 111.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 320.46967142912695, + 108.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 320.46967142912695, + 105.38336705175425, + -4.277059310983336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 320.46967142912695, + 102.38336705175425, + -4.277059310983336 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_8-58-31_877062718/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-58-31_877062718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76f7b36d0cc018b4e8fd6d8271ebf8d6b3e1a2c7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_8-58-31_877062718/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 405.0314305644558, + -126.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.6295067758091, + -128.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.2275829871624, + -129.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 412.8256591985157, + -131.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 415.42373540986904, + -132.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 418.02181162122235, + -134.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 420.61988783257567, + -135.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 423.217964043929, + -137.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 425.8160402552823, + -138.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.4141164666356, + -140.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 431.01219267798893, + -141.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 433.61026888934225, + -143.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 436.20834510069557, + -144.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 438.8064213120489, + -146.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 441.4044975234022, + -147.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 444.0025737347555, + -149.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 446.60064994610883, + -150.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 449.19872615746215, + -152.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 451.79680236881546, + -153.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 454.3948785801688, + -155.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 456.9929547915221, + -156.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 459.5910310028754, + -158.32964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 462.1891072142287, + -159.82964098321668, + 0.6882798035731135 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 462.1891072142287, + -159.82964098321668, + 0.6882798035731135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 462.1891072142287, + -159.82964098321668, + 0.6882798035731135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 462.1891072142287, + -159.82964098321668, + 0.6882798035731135 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 462.1891072142287, + -159.82964098321668, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 460.6891072142287, + -162.42771719457, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 459.1891072142287, + -165.0257934059233, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 457.6891072142287, + -167.62386961727663, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 456.1891072142287, + -170.22194582862994, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 454.6891072142287, + -172.82002203998326, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 453.1891072142287, + -175.41809825133657, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 451.6891072142287, + -178.0161744626899, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 450.1891072142287, + -180.6142506740432, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 448.6891072142287, + -183.21232688539652, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 447.1891072142287, + -185.81040309674984, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 445.6891072142287, + -188.40847930810315, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 444.1891072142287, + -191.00655551945647, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 442.6891072142287, + -193.60463173080979, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 441.1891072142287, + -196.2027079421631, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 439.6891072142287, + -198.80078415351642, + 0.6882798035731135 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 439.6891072142287, + -198.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 439.6891072142287, + -201.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 439.6891072142287, + -204.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 439.6891072142287, + -207.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 439.6891072142287, + -210.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 439.6891072142287, + -213.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 439.6891072142287, + -216.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 439.6891072142287, + -219.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 439.6891072142287, + -222.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 439.6891072142287, + -225.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 439.6891072142287, + -228.80078415351642, + 0.6882798035731135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 439.6891072142287, + -231.80078415351642, + 0.6882798035731135 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_9-19-23_910450857/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_9-19-23_910450857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a178adbc850e903bbab29d1d5d71327963584b5 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_9-19-23_910450857/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 286.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 289.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 298.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 301.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 304.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 310.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 313.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 316.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 319.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 325.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 328.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 328.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 328.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.73900233178574, + -516.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 328.73900233178574, + -513.4908653022159, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 328.73900233178574, + -510.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.73900233178574, + -507.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.73900233178574, + -504.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.73900233178574, + -501.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 328.73900233178574, + -498.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.73900233178574, + -495.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 328.73900233178574, + -492.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.73900233178574, + -489.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 328.73900233178574, + -486.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 328.73900233178574, + -483.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 328.73900233178574, + -480.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 328.73900233178574, + -477.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 328.73900233178574, + -474.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 328.73900233178574, + -471.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 328.73900233178574, + -468.49086530221587, + 3.6912426889717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 328.73900233178574, + -468.49086530221587, + 3.6912426889717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 330.23900233178574, + -465.89278909086255, + 3.6912426889717 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-11_9-53-48_1923775275/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-11_9-53-48_1923775275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce04de34465b9db1c729adaf9b74c145b6cde8a9 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-11_9-53-48_1923775275/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 25.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 28.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 31.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 34.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 40.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 49.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 49.06051314001541, + -268.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 51.658589351368725, + -269.87255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 54.25666556272204, + -271.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 56.85474177407536, + -272.87255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 59.45281798542867, + -274.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 62.05089419678199, + -275.87255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 64.64897040813531, + -277.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982977 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 67.24704661948863, + -278.87255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 69.84512283084194, + -280.37255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 72.44319904219526, + -281.87255621906667, + -2.3329814171842105 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 72.44319904219526, + -281.87255621906667, + -2.3329814171842105 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 72.44319904219526, + -281.87255621906667, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 73.94319904219526, + -284.47063243042, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 75.44319904219526, + -287.0687086417733, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 76.94319904219526, + -289.6667848531266, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 78.44319904219526, + -292.26486106447993, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 79.94319904219526, + -294.86293727583325, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 81.44319904219526, + -297.46101348718656, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 82.94319904219526, + -300.0590896985399, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 84.44319904219526, + -302.6571659098932, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 85.94319904219526, + -305.2552421212465, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 87.44319904219526, + -307.8533183325998, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 88.94319904219526, + -310.45139454395314, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 90.44319904219526, + -313.04947075530646, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 91.94319904219526, + -315.6475469666598, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 93.44319904219526, + -318.2456231780131, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 94.94319904219526, + -320.8436993893664, + -2.3329814171842105 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 96.44319904219526, + -323.4417756007197, + -2.3329814171842105 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_12-47-2_608413784/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_12-47-2_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a76620328adb5d3647c31618c6b47f1182811c7c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_12-47-2_608413784/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 448.10954144839417, + 355.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 450.7076176597475, + 354.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 453.3056938711008, + 352.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 455.9037700824541, + 351.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 458.50184629380743, + 349.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 461.09992250516075, + 348.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 463.69799871651406, + 346.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 466.2960749278674, + 345.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 468.8941511392207, + 343.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 471.492227350574, + 342.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.0903035619273, + 340.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 476.68837977328064, + 339.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.28645598463396, + 337.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 481.8845321959873, + 336.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 484.4826084073406, + 334.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 487.0806846186939, + 333.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 489.6787608300472, + 331.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 492.27683704140054, + 330.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 494.87491325275386, + 328.88698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 497.4729894641072, + 327.38698919875986, + -0.08359450482848896 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.4729894641072, + 327.38698919875986, + -0.08359450482848896 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 497.4729894641072, + 327.38698919875986, + -0.08359450482848896 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.4729894641072, + 327.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 497.4729894641072, + 324.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 497.4729894641072, + 321.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 497.4729894641072, + 318.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 497.4729894641072, + 315.38698919875986, + -0.08359450482848896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 497.4729894641072, + 312.38698919875986, + -0.08359450482848896 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.4336791992187, + 274.24072265625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_13-12-8_1918502651/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-12-8_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ff178146f0a6cf5eda93a234bed647a446a59eb --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-12-8_1918502651/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 315.2347607184253, + -496.3649123526122, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 313.7347607184253, + -493.76683614125886, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.2347607184253, + -491.16875992990555, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.7347607184253, + -488.57068371855223, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.2347607184253, + -485.9726075071989, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.7347607184253, + -483.3745312958456, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.2347607184253, + -480.7764550844923, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 304.7347607184253, + -478.17837887313897, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.2347607184253, + -475.58030266178565, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.7347607184253, + -472.98222645043234, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.2347607184253, + -470.384150239079, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.7347607184253, + -467.7860740277257, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.2347607184253, + -465.1879978163724, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.7347607184253, + -462.5899216050191, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.2347607184253, + -459.99184539366576, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 292.7347607184253, + -457.39376918231244, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 291.2347607184253, + -454.7956929709591, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 289.7347607184253, + -452.1976167596058, + -3.7521014972907007 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.7347607184253, + -452.1976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 287.136684507072, + -450.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 284.5386082957187, + -449.1976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 281.9405320843654, + -447.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 279.34245587301206, + -446.1976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 276.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 279.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 282.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 285.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 291.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 297.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 300.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 309.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 315.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 315.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 315.74437966165874, + -444.6976167596058, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 317.24437966165874, + -447.2956929709591, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 318.74437966165874, + -449.89376918231244, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 320.24437966165874, + -452.49184539366576, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 321.74437966165874, + -455.0899216050191, + -3.7521014972907007 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 321.74437966165874, + -455.0899216050191, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 324.34245587301206, + -456.5899216050191, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 326.9405320843654, + -458.0899216050191, + -3.7521014972907007 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 329.5386082957187, + -459.5899216050191, + -3.7521014972907007 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_13-22-48_1892066601/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-22-48_1892066601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f293e6b565bf4eddbfdf488bcc65cc15f1b3840 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-22-48_1892066601/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 295.7581546751125, + 72.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 295.7581546751125, + 75.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.7581546751125, + 78.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.7581546751125, + 81.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 295.7581546751125, + 84.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 295.7581546751125, + 87.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 295.7581546751125, + 90.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 295.7581546751125, + 93.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 295.7581546751125, + 96.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.7581546751125, + 99.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.7581546751125, + 102.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 295.7581546751125, + 105.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.7581546751125, + 108.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.7581546751125, + 111.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.7581546751125, + 114.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.7581546751125, + 117.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.7581546751125, + 120.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.7581546751125, + 123.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 295.7581546751125, + 126.38438572278831, + -2.8959759046550655 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 295.7581546751125, + 126.38438572278831, + -2.8959759046550655 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 295.7581546751125, + 126.38438572278831, + -2.8959759046550655 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 295.7581546751125, + 126.38438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 298.3562308864658, + 127.88438572278831, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 300.95430709781914, + 129.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.55238330917246, + 130.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 306.15045952052577, + 132.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 308.7485357318791, + 133.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 311.3466119432324, + 135.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 313.9446881545857, + 136.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.54276436593904, + 138.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 319.14084057729235, + 139.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 321.73891678864567, + 141.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 324.336992999999, + 142.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 326.9350692113523, + 144.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 329.5331454227056, + 145.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 332.13122163405893, + 147.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 334.72929784541225, + 148.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 337.32737405676556, + 150.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 339.9254502681189, + 151.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 342.5235264794722, + 153.3843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 345.1216026908255, + 154.8843857227883, + -2.8959759046550655 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 345.1216026908255, + 154.8843857227883, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 346.6216026908255, + 157.4824619341416, + -2.8959759046550655 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 348.1216026908255, + 160.08053814549493, + -2.8959759046550655 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_13-28-29_1194953865/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-28-29_1194953865/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2fe1ac704aab2d3da6c1942fc82c7c1ca89cc93 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-28-29_1194953865/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.3818258248203, + 257.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 407.78374961346697, + 256.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 405.18567340211365, + 254.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.58759719076033, + 253.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.989520979407, + 251.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 397.3914447680537, + 250.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.7933685567004, + 248.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.19529234534707, + 247.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.59721613399375, + 245.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.99913992264044, + 244.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 384.4010637112871, + 242.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 381.8029874999338, + 241.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 379.2049112885805, + 239.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 376.6068350772272, + 238.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 374.00875886587386, + 236.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 371.41068265452054, + 235.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.8126064431672, + 233.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.2145302318139, + 232.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.6164540204606, + 230.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 361.0183778091073, + 229.1552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 358.42030159775396, + 227.6552734179587, + -0.8246999398629615 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 358.42030159775396, + 227.6552734179587, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 356.92030159775396, + 225.0571972066054, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 355.42030159775396, + 222.45912099525208, + -0.8246999398629615 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.42030159775396, + 222.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 355.42030159775396, + 219.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 355.42030159775396, + 216.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 355.42030159775396, + 213.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 355.42030159775396, + 210.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 355.42030159775396, + 207.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 355.42030159775396, + 204.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 355.42030159775396, + 201.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 355.42030159775396, + 198.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 355.42030159775396, + 195.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 355.42030159775396, + 192.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 355.42030159775396, + 189.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 355.42030159775396, + 186.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 355.42030159775396, + 183.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 355.42030159775396, + 180.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 355.42030159775396, + 177.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 355.42030159775396, + 174.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 355.42030159775396, + 171.45912099525208, + -0.8246999398629615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 355.42030159775396, + 168.45912099525208, + -0.8246999398629615 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_13-47-45_1409959708/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-47-45_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3de6e91953196be36c074b28e6b1850f3afdc21 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-47-45_1409959708/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 415.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 412.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 409.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 406.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 403.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 400.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 397.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 394.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 391.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 391.87422118611596, + -517.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 389.27614497476264, + -516.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 386.6780687634093, + -514.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 384.079992552056, + -513.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 381.4819163407027, + -511.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 378.8838401293494, + -510.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 376.28576391799606, + -508.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 373.68768770664275, + -507.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 371.08961149528943, + -505.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 368.4915352839361, + -504.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 365.8934590725828, + -502.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 363.2953828612295, + -501.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.69730664987617, + -499.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.09923043852285, + -498.3895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 355.50115422716954, + -496.8895029929803, + -4.004343229275004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.50115422716954, + -496.8895029929803, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 354.00115422716954, + -494.29142678162697, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 352.50115422716954, + -491.69335057027365, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 351.00115422716954, + -489.09527435892034, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 349.50115422716954, + -486.497198147567, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 348.00115422716954, + -483.8991219362137, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.50115422716954, + -481.3010457248604, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 345.00115422716954, + -478.70296951350707, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 343.50115422716954, + -476.10489330215376, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 342.00115422716954, + -473.50681709080044, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 340.50115422716954, + -470.9087408794471, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 339.00115422716954, + -468.3106646680938, + -4.004343229275004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 339.00115422716954, + -468.3106646680938, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 336.4030780158162, + -466.8106646680938, + -4.004343229275004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 333.8050018044629, + -465.3106646680938, + -4.004343229275004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_13-56-50_2147469841/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-56-50_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aee070e042044eaf0070aecad3b20135cf949b3d --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_13-56-50_2147469841/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 161.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 158.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 155.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 152.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 149.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 146.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 143.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 140.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 137.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 134.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 131.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 128.5313581231048, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 125.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 122.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 119.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 116.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 113.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 113.53135812310481, + -334.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 110.9332819117515, + -332.7623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.33520570039818, + -331.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 105.73712948904486, + -329.7623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 103.13905327769154, + -328.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 100.54097706633823, + -326.7623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 97.94290085498491, + -325.2623873132605, + 4.806860690138551 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 97.94290085498491, + -325.2623873132605, + 4.806860690138551 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 97.94290085498491, + -325.2623873132605, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 96.44290085498491, + -322.6643111019072, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 94.94290085498491, + -320.06623489055386, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 93.44290085498491, + -317.46815867920054, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 91.94290085498491, + -314.8700824678472, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 90.44290085498491, + -312.2720062564939, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 88.94290085498491, + -309.6739300451406, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 87.44290085498491, + -307.0758538337873, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 85.94290085498491, + -304.47777762243396, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 84.44290085498491, + -301.87970141108065, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 82.94290085498491, + -299.28162519972733, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 81.44290085498491, + -296.683548988374, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 79.94290085498491, + -294.0854727770207, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 78.44290085498491, + -291.4873965656674, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 76.94290085498491, + -288.88932035431407, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 75.44290085498491, + -286.29124414296075, + 4.806860690138551 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 73.94290085498491, + -283.69316793160743, + 4.806860690138551 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_14-21-59_1909002904/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-21-59_1909002904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4abfb9f44c878288fd990d2055e14ae416bac614 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-21-59_1909002904/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 330.57188682461197, + -558.3896262098867, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 332.07188682461197, + -555.7915499985334, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 333.57188682461197, + -553.19347378718, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 335.07188682461197, + -550.5953975758266, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 336.57188682461197, + -547.9973213644732, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "turn right", + "value": 30, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 338.07188682461197, + -545.3992451531199, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.57188682461197, + -547.9973213644732, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 341.07188682461197, + -550.5953975758266, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 342.57188682461197, + -553.19347378718, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 344.07188682461197, + -555.7915499985334, + -2.464217391430875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.57188682461197, + -558.3896262098867, + -2.464217391430875 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_14-39-55_1450573622/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-39-55_1450573622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c05269a73e74eb942d879b0081a35f7ec931f924 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-39-55_1450573622/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 404.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 410.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 416.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 419.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 422.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 434.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 437.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 440.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 443.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 446.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 452.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 452.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 452.6222187706478, + -142.43995594181226, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.1222187706478, + -145.03803215316557, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 455.6222187706478, + -147.6361083645189, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.1222187706478, + -150.2341845758722, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 458.6222187706478, + -152.83226078722552, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 460.1222187706478, + -155.43033699857884, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 461.6222187706478, + -158.02841320993215, + 0.6391663387334425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 461.6222187706478, + -158.02841320993215, + 0.6391663387334425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.6222187706478, + -158.02841320993215, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 460.1222187706478, + -160.62648942128547, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 458.6222187706478, + -163.2245656326388, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 457.1222187706478, + -165.8226418439921, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 455.6222187706478, + -168.42071805534542, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 454.1222187706478, + -171.01879426669873, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 452.6222187706478, + -173.61687047805205, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 451.1222187706478, + -176.21494668940537, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 449.6222187706478, + -178.81302290075868, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 448.1222187706478, + -181.411099112112, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 446.6222187706478, + -184.0091753234653, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 445.1222187706478, + -186.60725153481863, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 443.6222187706478, + -189.20532774617195, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 442.1222187706478, + -191.80340395752526, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 440.6222187706478, + -194.40148016887858, + 0.6391663387334425 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 440.6222187706478, + -194.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 440.6222187706478, + -197.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 440.6222187706478, + -200.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 440.6222187706478, + -203.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 440.6222187706478, + -206.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 440.6222187706478, + -209.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 440.6222187706478, + -212.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 440.6222187706478, + -215.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 440.6222187706478, + -218.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 440.6222187706478, + -221.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 440.6222187706478, + -224.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 440.6222187706478, + -227.40148016887858, + 0.6391663387334425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 440.6222187706478, + -230.40148016887858, + 0.6391663387334425 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_14-41-20_654887343/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-41-20_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad2db91978c1fb67006f0daa253be64b72901cd --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-41-20_654887343/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.5225572617726, + -544.9325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.1206334731259, + -543.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 308.7187096844792, + -541.9325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.31678589583254, + -540.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 313.91486210718585, + -538.9325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.51293831853917, + -537.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 319.1110145298925, + -535.9325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 321.7090907412458, + -534.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 324.3071669525991, + -532.9325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 326.90524316395243, + -531.4325736575198, + -3.633856325436615 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 326.90524316395243, + -531.4325736575198, + -3.633856325436615 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.90524316395243, + -531.4325736575198, + -3.633856325436615 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 326.90524316395243, + -531.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 326.90524316395243, + -528.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.90524316395243, + -525.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.90524316395243, + -522.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.90524316395243, + -519.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.90524316395243, + -516.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.90524316395243, + -513.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.90524316395243, + -510.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.90524316395243, + -507.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.90524316395243, + -504.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.90524316395243, + -501.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.90524316395243, + -498.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.90524316395243, + -495.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.90524316395243, + -492.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.90524316395243, + -489.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 326.90524316395243, + -486.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 326.90524316395243, + -483.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 326.90524316395243, + -480.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 326.90524316395243, + -477.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 326.90524316395243, + -474.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 326.90524316395243, + -471.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 326.90524316395243, + -468.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 326.90524316395243, + -465.4325736575198, + -3.633856325436615 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 326.90524316395243, + -465.4325736575198, + -3.633856325436615 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 326.90524316395243, + -465.4325736575198, + -3.633856325436615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.50331937530575, + -463.9325736575198, + -3.633856325436615 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_14-45-35_1369321801/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-45-35_1369321801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c840b92265b94b3588535b089e20fbd6b9083d7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_14-45-35_1369321801/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 78.51247721609263, + -395.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.51247721609263, + -392.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.51247721609263, + -389.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 78.51247721609263, + -386.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 78.51247721609263, + -383.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 78.51247721609263, + -380.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 78.51247721609263, + -377.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 78.51247721609263, + -374.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 78.51247721609263, + -371.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 78.51247721609263, + -368.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 78.51247721609263, + -365.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 78.51247721609263, + -362.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 78.51247721609263, + -359.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 78.51247721609263, + -356.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 78.51247721609263, + -353.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 78.51247721609263, + -350.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.51247721609263, + -347.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 78.51247721609263, + -344.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.51247721609263, + -341.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 78.51247721609263, + -338.2424415431843, + 1.2228961825263571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 78.51247721609263, + -338.2424415431843, + 1.2228961825263571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 78.51247721609263, + -338.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 81.11055342744595, + -336.7424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 83.70862963879927, + -335.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 86.30670585015258, + -333.7424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.9047820615059, + -332.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 91.50285827285921, + -330.7424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 94.10093448421253, + -329.2424415431843, + 1.2228961825263571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 94.10093448421253, + -329.2424415431843, + 1.2228961825263571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 94.10093448421253, + -329.2424415431843, + 1.2228961825263571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 94.10093448421253, + -329.2424415431843, + 1.2228961825263571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 94.10093448421253, + -329.2424415431843, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 92.60093448421253, + -326.644365331831, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 91.10093448421253, + -324.0462891204777, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 89.60093448421253, + -321.4482129091244, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 88.10093448421253, + -318.85013669777106, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 86.60093448421253, + -316.25206048641775, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 85.10093448421253, + -313.65398427506443, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 83.60093448421253, + -311.0559080637111, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 82.10093448421253, + -308.4578318523578, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 80.60093448421253, + -305.8597556410045, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 79.10093448421253, + -303.26167942965117, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 77.60093448421253, + -300.66360321829785, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 76.10093448421253, + -298.06552700694454, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 74.60093448421253, + -295.4674507955912, + 1.2228961825263571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 74.60093448421253, + -295.4674507955912, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 74.60093448421253, + -292.4674507955912, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 74.60093448421253, + -289.4674507955912, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 74.60093448421253, + -286.4674507955912, + 1.2228961825263571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 74.60093448421253, + -283.4674507955912, + 1.2228961825263571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_15-16-1_1069755936/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_15-16-1_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5e10adf4f9bc84bf14a0221097de42c3e923c42 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_15-16-1_1069755936/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 324.08425203416596, + -429.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 321.48617582281264, + -430.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 318.8880996114593, + -432.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 316.290023400106, + -433.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 313.6919471887527, + -435.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.0938709773994, + -436.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 308.49579476604606, + -438.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 305.89771855469274, + -439.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 303.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 294.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 291.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 279.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 279.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 282.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 285.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 288.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 288.29964234333943, + -441.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 290.89771855469274, + -442.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 293.49579476604606, + -444.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 296.0938709773994, + -445.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.6919471887527, + -447.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 301.290023400106, + -448.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 303.8880996114593, + -450.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.48617582281264, + -451.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 309.08425203416596, + -453.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 311.6823282455193, + -454.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 314.2804044568726, + -456.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 316.8784806682259, + -457.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 319.4765568795792, + -459.3683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 322.07463309093254, + -460.8683374199707, + -3.482911307135405 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 322.07463309093254, + -460.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 325.07463309093254, + -460.8683374199707, + -3.482911307135405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 328.07463309093254, + -460.8683374199707, + -3.482911307135405 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_15-49-31_1343606042/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_15-49-31_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fae386e4b04eb3f1336dd64db2962c0eac16fb8 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_15-49-31_1343606042/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 236.1746427419252, + 171.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 238.7727189532785, + 170.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 241.37079516463183, + 168.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 243.96887137598515, + 167.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 246.56694758733846, + 165.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 249.16502379869178, + 164.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 251.7631000100451, + 162.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 254.3611762213984, + 161.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 256.9592524327517, + 159.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.55732864410504, + 158.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 262.15540485545836, + 156.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.7534810668117, + 155.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.351557278165, + 153.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.9496334895183, + 152.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 272.5477097008716, + 150.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.14578591222494, + 149.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 277.74386212357825, + 147.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 280.34193833493157, + 146.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 282.9400145462849, + 144.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 285.5380907576382, + 143.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 288.1361669689915, + 141.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 290.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 290.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 290.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 293.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 296.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.73424318034483, + 140.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.33231939169815, + 141.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 313.93039560305147, + 143.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 316.5284718144048, + 144.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 319.1265480257581, + 146.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 321.7246242371114, + 147.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 324.32270044846473, + 149.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 326.92077665981805, + 150.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 329.51885287117136, + 152.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 332.1169290825247, + 153.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 334.715005293878, + 155.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 337.3130815052313, + 156.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 339.9111577165846, + 158.10409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 342.50923392793794, + 159.60409439962734, + 3.682400232289801 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 345.10731013929126, + 161.10409439962734, + 3.682400232289801 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_16-39-52_235649157/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_16-39-52_235649157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3531b7e5a744cb5678a9113fdea812664c7ad38 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_16-39-52_235649157/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 279.90717949140077, + 55.49138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 282.5052557027541, + 56.99138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.1033319141074, + 58.49138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 287.7014081254607, + 59.99138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 290.29948433681403, + 61.49138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 292.89756054816735, + 62.99138941888063, + -2.6626696912565433 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 292.89756054816735, + 62.99138941888063, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 294.39756054816735, + 65.58946563023395, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 295.89756054816735, + 68.18754184158726, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 297.39756054816735, + 70.78561805294058, + -2.6626696912565433 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.39756054816735, + 70.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.39756054816735, + 73.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.39756054816735, + 76.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.39756054816735, + 79.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.39756054816735, + 82.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 297.39756054816735, + 85.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.39756054816735, + 88.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.39756054816735, + 91.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 297.39756054816735, + 94.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 297.39756054816735, + 97.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.39756054816735, + 100.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.39756054816735, + 103.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.39756054816735, + 106.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.39756054816735, + 109.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.39756054816735, + 112.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.39756054816735, + 115.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 297.39756054816735, + 118.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 297.39756054816735, + 121.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 297.39756054816735, + 124.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 297.39756054816735, + 127.78561805294058, + -2.6626696912565433 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 297.39756054816735, + 127.78561805294058, + -2.6626696912565433 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.39756054816735, + 127.78561805294058, + -2.6626696912565433 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.79948433681403, + 129.28561805294058, + -2.6626696912565433 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_17-0-57_1328104339/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-0-57_1328104339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9c588e1c2a8bbb3488c74e83d1cedaa9393ce47 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-0-57_1328104339/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 332.8402816000921, + 147.00929386050788, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 331.3402816000921, + 144.41121764915457, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 329.8402816000921, + 141.81314143780125, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 328.3402816000921, + 139.21506522644793, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.8402816000921, + 136.61698901509462, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 325.3402816000921, + 134.0189128037413, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 323.8402816000921, + 131.42083659238799, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 322.3402816000921, + 128.82276038103467, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 320.8402816000921, + 126.22468416968135, + -2.040756508228598 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 320.8402816000921, + 126.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 320.8402816000921, + 123.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 320.8402816000921, + 120.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 320.8402816000921, + 117.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 320.8402816000921, + 114.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 320.8402816000921, + 111.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 320.8402816000921, + 108.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.8402816000921, + 105.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 320.8402816000921, + 102.22468416968135, + -2.040756508228598 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.8402816000921, + 102.22468416968135, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.3402816000921, + 99.62660795832804, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.8402816000921, + 97.02853174697472, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 325.3402816000921, + 94.4304555356214, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.8402816000921, + 91.83237932426809, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.3402816000921, + 89.23430311291477, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 329.8402816000921, + 86.63622690156146, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 331.3402816000921, + 84.03815069020814, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 332.8402816000921, + 81.44007447885483, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.3402816000921, + 78.84199826750151, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 335.8402816000921, + 76.2439220561482, + -2.040756508228598 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 335.8402816000921, + 76.2439220561482, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 335.8402816000921, + 73.2439220561482, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 335.8402816000921, + 70.2439220561482, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 335.8402816000921, + 67.2439220561482, + -2.040756508228598 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 335.8402816000921, + 64.2439220561482, + -2.040756508228598 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_17-4-40_1455590964/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-4-40_1455590964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9aa33bda20df85084872840661b32175a486a977 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-4-40_1455590964/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.4293101889564, + -268.0931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 404.0273864003097, + -266.5931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.625462611663, + -265.0931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 409.2235388230163, + -263.5931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 411.82161503436964, + -262.0931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.41969124572296, + -260.5931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.0177674570763, + -259.0931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.6158436684296, + -257.5931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 422.2139198797829, + -256.0931707412735, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 424.8119960911362, + -254.59317074127352, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 427.41007230248954, + -253.09317074127352, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 427.41007230248954, + -253.09317074127352, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.91007230248954, + -250.4950945299202, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.41007230248954, + -247.8970183185669, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.91007230248954, + -245.29894210721358, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.41007230248954, + -242.70086589586026, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 434.91007230248954, + -240.10278968450694, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.41007230248954, + -237.50471347315363, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 437.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 434.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 431.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 428.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 425.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 422.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 419.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 416.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 413.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 410.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 407.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 404.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 401.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 398.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 395.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 392.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 389.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 386.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 383.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 380.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 377.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 374.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 374.91007230248954, + -234.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 372.3119960911362, + -233.4066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 369.7139198797829, + -231.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 367.1158436684296, + -230.4066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 364.5177674570763, + -228.9066372618003, + 3.945566642208002 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 361.91969124572296, + -227.4066372618003, + 3.945566642208002 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_17-5-24_328298285/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-5-24_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c87137f8328fc80c0dde2e1267350e40a90a8a09 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-5-24_328298285/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 423.3415157440525, + -298.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 423.3415157440525, + -295.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 423.3415157440525, + -292.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 423.3415157440525, + -289.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 423.3415157440525, + -286.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 423.3415157440525, + -283.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 423.3415157440525, + -280.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 423.3415157440525, + -277.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 423.3415157440525, + -274.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 423.3415157440525, + -271.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.3415157440525, + -268.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.3415157440525, + -265.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 423.3415157440525, + -262.3904227710941, + 4.85973295445158 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 423.3415157440525, + -262.3904227710941, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 424.8415157440525, + -259.7923465597408, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 426.3415157440525, + -257.1942703483875, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 427.8415157440525, + -254.59619413703416, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 429.3415157440525, + -251.99811792568084, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 430.8415157440525, + -249.40004171432753, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 432.3415157440525, + -246.8019655029742, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 433.8415157440525, + -244.2038892916209, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 435.3415157440525, + -241.60581308026758, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.8415157440525, + -239.00773686891426, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 435.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 432.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 429.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 426.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 423.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 420.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 417.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 414.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 411.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 408.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 405.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 402.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 399.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 396.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 393.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 390.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 387.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 384.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 381.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 378.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 375.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 372.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 369.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 366.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 366.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 366.3415157440525, + -236.40966065756095, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 364.8415157440525, + -233.81158444620763, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 363.3415157440525, + -231.21350823485432, + 4.85973295445158 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 361.8415157440525, + -228.615432023501, + 4.85973295445158 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_17-58-18_530498338/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-58-18_530498338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa856588a80606391ad4d51a93c50eb19d5ad4ab --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_17-58-18_530498338/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.9131345056726, + -179.18750888782785, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.4131345056726, + -181.78558509918116, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 393.9131345056726, + -184.38366131053448, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.4131345056726, + -186.9817375218878, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.9131345056726, + -189.5798137332411, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 389.4131345056726, + -192.17788994459443, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.9131345056726, + -194.77596615594774, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.4131345056726, + -197.37404236730106, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 384.9131345056726, + -199.97211857865437, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 383.4131345056726, + -202.5701947900077, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 381.9131345056726, + -205.168271001361, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.4131345056726, + -207.76634721271432, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.9131345056726, + -210.36442342406764, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 377.4131345056726, + -212.96249963542095, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 375.9131345056726, + -215.56057584677427, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 374.4131345056726, + -218.1586520581276, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 372.9131345056726, + -220.7567282694809, + -3.352796832093344 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 372.9131345056726, + -220.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 370.3150582943193, + -222.2567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 367.71698208296596, + -223.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 365.11890587161264, + -225.2567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 362.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 365.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 368.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 371.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 374.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 377.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 380.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 383.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 386.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 389.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 392.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 395.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 398.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 401.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 404.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 407.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 410.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 413.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 416.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 419.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 422.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 425.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 428.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 431.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 431.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 431.5208296602593, + -226.7567282694809, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 433.0208296602593, + -229.35480448083422, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 434.5208296602593, + -231.95288069218753, + -3.352796832093344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 436.0208296602593, + -234.55095690354085, + -3.352796832093344 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_18-1-32_1251300606/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_18-1-32_1251300606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e01c5417dd1fc5518ab29ad825c17d0cf9ce8fa --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_18-1-32_1251300606/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 264.6741370213094, + -505.1139371684908, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 266.1741370213094, + -502.5158609571375, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.6741370213094, + -499.91778474578416, + 4.670701956296057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.6741370213094, + -499.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 270.2722132326627, + -498.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 272.870289444016, + -496.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.4683656553693, + -495.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 278.06644186672264, + -493.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.66451807807596, + -492.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 283.2625942894293, + -490.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.8606705007826, + -489.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.4587467121359, + -487.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.0568229234892, + -486.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.65489913484254, + -484.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 296.25297534619585, + -483.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.85105155754917, + -481.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 301.4491277689025, + -480.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 304.0472039802558, + -478.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 306.6452801916091, + -477.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 309.24335640296243, + -475.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 311.84143261431575, + -474.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 314.43950882566907, + -472.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.0375850370224, + -471.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 319.6356612483757, + -469.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.233737459729, + -468.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 324.83181367108233, + -466.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.42988988243565, + -465.41778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 330.02796609378896, + -463.91778474578416, + 4.670701956296057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.02796609378896, + -463.91778474578416, + 4.670701956296057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 330.02796609378896, + -463.91778474578416, + 4.670701956296057 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 330.02796609378896, + -463.91778474578416, + 4.670701956296057 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 330.02796609378896, + -463.91778474578416, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 331.52796609378896, + -466.5158609571375, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 333.02796609378896, + -469.1139371684908, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 334.52796609378896, + -471.7120133798441, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 336.02796609378896, + -474.3100895911974, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 337.52796609378896, + -476.90816580255074, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 339.02796609378896, + -479.50624201390406, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 340.52796609378896, + -482.1043182252574, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 342.02796609378896, + -484.7023944366107, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 343.52796609378896, + -487.300470647964, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 345.02796609378896, + -489.8985468593173, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 346.52796609378896, + -492.49662307067064, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 348.02796609378896, + -495.09469928202395, + 4.670701956296057 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 349.52796609378896, + -497.69277549337727, + 4.670701956296057 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_18-40-59_371653516/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_18-40-59_371653516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28efe7e1aa5300fded92037479e2676b1faa003a --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_18-40-59_371653516/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 358.69083667922206, + 125.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 356.09276046786874, + 124.39130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 353.4946842565154, + 122.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 350.8966080451621, + 121.39130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 348.2985318338088, + 119.89130119269024, + 0.396179052098228 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 348.2985318338088, + 119.89130119269024, + 0.396179052098228 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 348.2985318338088, + 119.89130119269024, + 0.396179052098228 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.2985318338088, + 119.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 348.2985318338088, + 116.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 348.2985318338088, + 113.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 348.2985318338088, + 110.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 348.2985318338088, + 107.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.2985318338088, + 104.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.2985318338088, + 101.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.2985318338088, + 98.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 348.2985318338088, + 95.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 348.2985318338088, + 92.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 348.2985318338088, + 89.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.2985318338088, + 86.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 348.2985318338088, + 83.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.2985318338088, + 80.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 348.2985318338088, + 77.89130119269024, + 0.396179052098228 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 348.2985318338088, + 77.89130119269024, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 346.7985318338088, + 75.29322498133692, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 345.2985318338088, + 72.6951487699836, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.7985318338088, + 70.09707255863029, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 342.2985318338088, + 67.49899634727697, + 0.396179052098228 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 340.7985318338088, + 64.90092013592366, + 0.396179052098228 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_19-2-41_1319041805/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-2-41_1319041805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b52cf1b5bdb2af51171c621eb89390107be0dd3 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-2-41_1319041805/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.97432944693318, + -237.43423861241928, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 106.47432944693318, + -240.0323148237726, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.97432944693318, + -242.6303910351259, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 103.47432944693318, + -245.22846724647923, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.97432944693318, + -247.82654345783254, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.47432944693318, + -250.42461966918586, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.97432944693318, + -253.02269588053917, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.47432944693318, + -255.6207720918925, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.97432944693318, + -258.2188483032458, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.47432944693318, + -260.8169245145991, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.97432944693318, + -263.41500072595244, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.47432944693318, + -266.01307693730575, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.97432944693318, + -268.61115314865907, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.47432944693318, + -271.2092293600124, + -4.130492408089684 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 88.47432944693318, + -271.2092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.87625323557987, + -272.7092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.27817702422655, + -274.2092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 80.68010081287323, + -275.7092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.08202460151992, + -277.2092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 75.4839483901666, + -278.7092293600124, + -4.130492408089684 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 75.4839483901666, + -278.7092293600124, + -4.130492408089684 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 75.4839483901666, + -278.7092293600124, + -4.130492408089684 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 75.4839483901666, + -278.7092293600124, + -4.130492408089684 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 75.4839483901666, + -278.7092293600124, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 76.9839483901666, + -281.3073055713657, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 78.4839483901666, + -283.905381782719, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 79.9839483901666, + -286.50345799407233, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 81.4839483901666, + -289.10153420542565, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 82.9839483901666, + -291.69961041677897, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 84.4839483901666, + -294.2976866281323, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 85.9839483901666, + -296.8957628394856, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 87.4839483901666, + -299.4938390508389, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 88.9839483901666, + -302.09191526219223, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 90.4839483901666, + -304.68999147354555, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 91.9839483901666, + -307.28806768489886, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 93.4839483901666, + -309.8861438962522, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 94.9839483901666, + -312.4842201076055, + -4.130492408089684 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 94.9839483901666, + -312.4842201076055, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 94.9839483901666, + -315.4842201076055, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 94.9839483901666, + -318.4842201076055, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 94.9839483901666, + -321.4842201076055, + -4.130492408089684 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 94.9839483901666, + -324.4842201076055, + -4.130492408089684 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_19-43-42_2044897763/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-43-42_2044897763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4143aeb61b30de542181202e64d21c5026c9b46 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-43-42_2044897763/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.09454462880615, + 125.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 405.49646841745283, + 126.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 402.8983922060995, + 128.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914984 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.3003159947462, + 129.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.7022397833929, + 131.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.10416357203957, + 132.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 392.50608736068625, + 134.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.90801114933294, + 135.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 387.3099349379796, + 137.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 384.7118587266263, + 138.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.113782515273, + 140.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 379.51570630391967, + 141.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 376.91763009256636, + 143.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 374.31955388121304, + 144.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.7214776698597, + 146.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 369.1234014585064, + 147.6169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 366.5253252471531, + 149.1169742981658, + 4.075972403493257 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 366.5253252471531, + 149.1169742981658, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 365.0253252471531, + 151.7150505095191, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.5253252471531, + 154.31312672087242, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 362.0253252471531, + 156.91120293222573, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.5253252471531, + 159.50927914357905, + 4.075972403493257 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.5253252471531, + 159.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 360.5253252471531, + 162.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 360.5253252471531, + 165.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 360.5253252471531, + 168.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 360.5253252471531, + 171.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 360.5253252471531, + 174.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 360.5253252471531, + 177.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 360.5253252471531, + 180.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.5253252471531, + 183.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.5253252471531, + 186.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 360.5253252471531, + 189.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 360.5253252471531, + 192.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 360.5253252471531, + 195.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 360.5253252471531, + 198.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 360.5253252471531, + 201.50927914357905, + 4.075972403493257 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 360.5253252471531, + 201.50927914357905, + 4.075972403493257 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 360.5253252471531, + 201.50927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 357.9272490357998, + 203.00927914357905, + 4.075972403493257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 355.32917282444646, + 204.50927914357905, + 4.075972403493257 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_19-6-16_1959343768/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-6-16_1959343768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcc271d42305ba7e03ad971debf8d9e4d5d1f135 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_19-6-16_1959343768/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 337.6738087477298, + 84.7841718206235, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 336.1738087477298, + 87.38224803197681, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 334.6738087477298, + 89.98032424333013, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 333.1738087477298, + 92.57840045468345, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 331.6738087477298, + 95.17647666603676, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 330.1738087477298, + 97.77455287739008, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 328.6738087477298, + 100.3726290887434, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 327.1738087477298, + 102.97070530009671, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 325.6738087477298, + 105.56878151145003, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 324.1738087477298, + 108.16685772280334, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.6738087477298, + 110.76493393415666, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 321.1738087477298, + 113.36301014550997, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 319.6738087477298, + 115.96108635686329, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 318.1738087477298, + 118.5591625682166, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 316.6738087477298, + 121.15723877956992, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 315.1738087477298, + 123.75531499092324, + 3.759317786750792 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 315.1738087477298, + 123.75531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.5757325363765, + 125.25531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 309.9776563250232, + 126.75531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 307.3795801136699, + 128.25531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.78150390231656, + 129.75531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.18342769096324, + 131.25531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 299.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 302.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 302.5853514796099, + 132.75531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.18342769096324, + 134.25531499092324, + 3.759317786750792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.18342769096324, + 134.25531499092324, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 306.68342769096324, + 136.85339120227655, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 308.18342769096324, + 139.45146741362987, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 309.68342769096324, + 142.0495436249832, + 3.759317786750792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 309.68342769096324, + 142.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 312.28150390231656, + 143.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 314.8795801136699, + 145.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 317.4776563250232, + 146.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 320.0757325363765, + 148.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 322.6738087477298, + 149.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 325.27188495908314, + 151.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 327.86996117043645, + 152.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 330.46803738178977, + 154.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 333.0661135931431, + 155.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 335.6641898044964, + 157.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 338.2622660158497, + 158.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 340.86034222720303, + 160.0495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 343.45841843855635, + 161.5495436249832, + 3.759317786750792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 346.05649464990967, + 163.0495436249832, + 3.759317786750792 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_20-25-16_945117276/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_20-25-16_945117276/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1ccbf0c3782f6747ec5ad213a0dad1cb76a6ea0 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_20-25-16_945117276/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 265.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 268.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 274.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 277.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 289.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 295.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.8575883259964, + 107.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.4556645373497, + 105.72318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.05374074870304, + 104.22318774393844, + 2.904312853767416 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 301.05374074870304, + 104.22318774393844, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 302.55374074870304, + 101.62511153258512, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 304.05374074870304, + 99.0270353212318, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 305.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 305.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 305.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 308.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.55374074870304, + 96.42895910987849, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 313.05374074870304, + 93.83088289852518, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.55374074870304, + 91.23280668717186, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 316.05374074870304, + 88.63473047581854, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.55374074870304, + 86.03665426446523, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 319.05374074870304, + 83.43857805311191, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 320.55374074870304, + 80.8405018417586, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 322.05374074870304, + 78.24242563040528, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 323.55374074870304, + 75.64434941905196, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 325.05374074870304, + 73.04627320769865, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 326.55374074870304, + 70.44819699634533, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 328.05374074870304, + 67.85012078499201, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 329.55374074870304, + 65.2520445736387, + 2.904312853767416 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 329.55374074870304, + 65.2520445736387, + 2.904312853767416 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 332.15181696005635, + 63.7520445736387, + 2.904312853767416 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_20-57-58_160051528/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_20-57-58_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66c3a81c9f0fc76499c8c9f678581e2c1dd09232 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_20-57-58_160051528/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 97.91298636971467, + -229.15555323387656, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 96.41298636971467, + -231.75362944522988, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 94.91298636971467, + -234.3517056565832, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 93.41298636971467, + -236.9497818679365, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 91.91298636971467, + -239.54785807928982, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.41298636971467, + -242.14593429064314, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 88.91298636971467, + -244.74401050199646, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.41298636971467, + -247.34208671334977, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 85.91298636971467, + -249.9401629247031, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 84.41298636971467, + -252.5382391360564, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 82.91298636971467, + -255.13631534740972, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.41298636971467, + -257.73439155876304, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 79.91298636971467, + -260.33246777011635, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 78.41298636971467, + -262.93054398146967, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 76.91298636971467, + -265.528620192823, + -2.587790393242173 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.91298636971467, + -265.528620192823, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 76.91298636971467, + -268.528620192823, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.91298636971467, + -271.528620192823, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.91298636971467, + -274.528620192823, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 76.91298636971467, + -277.528620192823, + -2.587790393242173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.91298636971467, + -277.528620192823, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 78.41298636971467, + -280.1266964041763, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 79.91298636971467, + -282.7247726155296, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.41298636971467, + -285.32284882688293, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 82.91298636971467, + -287.92092503823625, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 84.41298636971467, + -290.51900124958956, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 85.91298636971467, + -293.1170774609429, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 87.41298636971467, + -295.7151536722962, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 88.91298636971467, + -298.3132298836495, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 90.41298636971467, + -300.91130609500283, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 91.91298636971467, + -303.50938230635614, + -2.587790393242173 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 91.91298636971467, + -303.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 91.91298636971467, + -306.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 91.91298636971467, + -309.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 91.91298636971467, + -312.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 91.91298636971467, + -315.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 91.91298636971467, + -318.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 91.91298636971467, + -321.50938230635614, + -2.587790393242173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 91.91298636971467, + -321.50938230635614, + -2.587790393242173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 93.41298636971467, + -324.10745851770946, + -2.587790393242173 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_21-6-17_150122846/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_21-6-17_150122846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..909071d564f552bf1885e556a3b8fb4755d2fe25 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_21-6-17_150122846/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 274.4427190316976, + 62.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.4427190316976, + 65.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 274.4427190316976, + 68.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 274.4427190316976, + 71.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 274.4427190316976, + 74.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 274.4427190316976, + 77.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.4427190316976, + 80.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.4427190316976, + 83.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 274.4427190316976, + 86.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.4427190316976, + 89.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 274.4427190316976, + 92.15422552890135, + -0.28802113617961833 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 274.4427190316976, + 92.15422552890135, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.9427190316976, + 94.75230174025467, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.4427190316976, + 97.35037795160798, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 278.9427190316976, + 99.9484541629613, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 280.4427190316976, + 102.54653037431461, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 281.9427190316976, + 105.14460658566793, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 283.4427190316976, + 107.74268279702125, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 284.9427190316976, + 110.34075900837456, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 286.4427190316976, + 112.93883521972788, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 287.9427190316976, + 115.5369114310812, + -0.28802113617961833 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 287.9427190316976, + 115.5369114310812, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 287.9427190316976, + 118.5369114310812, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 287.9427190316976, + 121.5369114310812, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 287.9427190316976, + 124.5369114310812, + -0.28802113617961833 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 287.9427190316976, + 124.5369114310812, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 286.4427190316976, + 127.13498764243451, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 284.9427190316976, + 129.73306385378783, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 283.4427190316976, + 132.33114006514114, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 281.9427190316976, + 134.92921627649446, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 280.4427190316976, + 137.52729248784777, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 278.9427190316976, + 140.1253686992011, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 277.4427190316976, + 142.7234449105544, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 275.9427190316976, + 145.32152112190772, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 274.4427190316976, + 147.91959733326104, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 272.9427190316976, + 150.51767354461435, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 271.4427190316976, + 153.11574975596767, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 269.9427190316976, + 155.713825967321, + -0.28802113617961833 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 269.9427190316976, + 155.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 269.9427190316976, + 158.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 269.9427190316976, + 161.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 269.9427190316976, + 164.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 269.9427190316976, + 167.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 269.9427190316976, + 170.713825967321, + -0.28802113617961833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 269.9427190316976, + 173.713825967321, + -0.28802113617961833 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 268.87510986328124, + 176.57235107421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_22-18-13_407487131/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_22-18-13_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2349917dce221832a7af010d7976d04178276c7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_22-18-13_407487131/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 490.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 493.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.2569458007812, + -224.40541381835936, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 496.4219588190035, + -225.26526609487604, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 494.9219588190035, + -222.66718988352272, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 493.4219588190035, + -220.0691136721694, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 491.9219588190035, + -217.4710374608161, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.4219588190035, + -214.87296124946278, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 488.9219588190035, + -212.27488503810946, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 487.4219588190035, + -209.67680882675614, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 485.9219588190035, + -207.07873261540283, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.4219588190035, + -204.4806564040495, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 482.9219588190035, + -201.8825801926962, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 481.4219588190035, + -199.28450398134288, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 479.9219588190035, + -196.68642776998956, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 478.4219588190035, + -194.08835155863625, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.9219588190035, + -191.49027534728293, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 475.4219588190035, + -188.89219913592962, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 473.9219588190035, + -186.2941229245763, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 472.4219588190035, + -183.69604671322298, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 470.9219588190035, + -181.09797050186967, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 469.4219588190035, + -178.49989429051635, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 467.9219588190035, + -175.90181807916304, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 466.4219588190035, + -173.30374186780972, + -3.906934541881802 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 466.4219588190035, + -173.30374186780972, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 466.4219588190035, + -170.30374186780972, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 466.4219588190035, + -167.30374186780972, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 466.4219588190035, + -164.30374186780972, + -3.906934541881802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 466.4219588190035, + -161.30374186780972, + -3.906934541881802 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_22-24-47_260152959/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_22-24-47_260152959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15d30585c880f4319f70bbba9f2c47c43dd4e07d --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_22-24-47_260152959/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 460.80733001785904, + 258.7406691542162, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 462.30733001785904, + 261.33874536556954, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 463.80733001785904, + 263.93682157692285, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 465.30733001785904, + 266.53489778827617, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 466.80733001785904, + 269.1329739996295, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 468.30733001785904, + 271.7310502109828, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 469.80733001785904, + 274.3291264223361, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 471.30733001785904, + 276.92720263368943, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 472.80733001785904, + 279.52527884504275, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 474.30733001785904, + 282.12335505639606, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 475.80733001785904, + 284.7214312677494, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 477.30733001785904, + 287.3195074791027, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 478.80733001785904, + 289.917583690456, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 480.30733001785904, + 292.51565990180933, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 481.80733001785904, + 295.11373611316264, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 483.30733001785904, + 297.71181232451596, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.80733001785904, + 300.3098885358693, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.30733001785904, + 302.9079647472226, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 487.80733001785904, + 305.5060409585759, + -1.1672613515205748 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 487.80733001785904, + 305.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 490.40540622921236, + 307.0060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 493.0034824405657, + 308.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 495.601558651919, + 310.0060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 498.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 495.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 492.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 489.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 486.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 483.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 480.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 477.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 474.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 471.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 468.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 465.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 462.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 459.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 456.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 453.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 450.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 447.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 444.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 441.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 438.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 435.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 432.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 429.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 429.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 429.1996348632723, + 311.5060409585759, + -1.1672613515205748 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 427.6996348632723, + 314.1041171699292, + -1.1672613515205748 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_23-1-28_1343606042/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_23-1-28_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe56c50bd89fe659ef4d31124607747868620f78 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_23-1-28_1343606042/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 133.22359583167275, + -233.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 130.62551962031944, + -235.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 128.02744340896612, + -236.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 125.4293671976128, + -238.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 122.83129098625949, + -239.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 120.23321477490617, + -241.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.63513856355286, + -242.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 115.03706235219954, + -244.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 112.43898614084623, + -245.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.84090992949291, + -247.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 107.2428337181396, + -248.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 104.64475750678628, + -250.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 102.04668129543296, + -251.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 99.44860508407965, + -253.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 96.85052887272633, + -254.57173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 94.25245266137301, + -256.07173653957676, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 94.25245266137301, + -256.07173653957676, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 92.75245266137301, + -258.6698127509301, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.25245266137301, + -261.2678889622834, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 89.75245266137301, + -263.8659651736367, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 88.25245266137301, + -266.46404138499, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 86.75245266137301, + -269.06211759634334, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 85.25245266137301, + -271.66019380769666, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 83.75245266137301, + -274.25827001905, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 82.25245266137301, + -276.8563462304033, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 80.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 80.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 80.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 77.75245266137301, + -279.4544224417566, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 79.25245266137301, + -282.0524986531099, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 80.75245266137301, + -284.65057486446324, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 82.25245266137301, + -287.24865107581655, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 83.75245266137301, + -289.84672728716987, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 85.25245266137301, + -292.4448034985232, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 86.75245266137301, + -295.0428797098765, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 88.25245266137301, + -297.6409559212298, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 89.75245266137301, + -300.23903213258313, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 91.25245266137301, + -302.83710834393645, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 92.75245266137301, + -305.43518455528977, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 94.25245266137301, + -308.0332607666431, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 95.75245266137301, + -310.6313369779964, + 1.3519958672387418 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 95.75245266137301, + -310.6313369779964, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 95.75245266137301, + -313.6313369779964, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 95.75245266137301, + -316.6313369779964, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 95.75245266137301, + -319.6313369779964, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 95.75245266137301, + -322.6313369779964, + 1.3519958672387418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 95.75245266137301, + -325.6313369779964, + 1.3519958672387418 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-8_23-27-1_255789528/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-8_23-27-1_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..127993fe6ce6de493f30e6eb8ba97c0666e28c4c --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-8_23-27-1_255789528/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.64754350099196, + -209.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.64754350099196, + -209.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 392.64754350099196, + -209.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.64754350099196, + -209.18221621343292, + 2.155043050802382 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 395.64754350099196, + -209.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.2456197123453, + -210.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 400.8436959236986, + -212.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 403.4417721350519, + -213.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 406.0398483464052, + -215.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.63792455775854, + -216.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 411.23600076911185, + -218.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.83407698046517, + -219.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 416.4321531918185, + -221.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.0302294031718, + -222.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 421.6283056145251, + -224.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 424.22638182587843, + -225.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 426.82445803723175, + -227.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 429.42253424858507, + -228.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 432.0206104599384, + -230.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 434.6186866712917, + -231.68221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 437.216762882645, + -233.18221621343292, + 2.155043050802382 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 437.216762882645, + -233.18221621343292, + 2.155043050802382 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 437.216762882645, + -233.18221621343292, + 2.155043050802382 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 437.216762882645, + -233.18221621343292, + 2.155043050802382 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 437.216762882645, + -233.18221621343292, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.716762882645, + -230.5841400020796, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 440.216762882645, + -227.9860637907263, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 441.716762882645, + -225.38798757937298, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 443.216762882645, + -222.78991136801966, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 444.716762882645, + -220.19183515666634, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 446.216762882645, + -217.59375894531303, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 447.716762882645, + -214.9956827339597, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 449.216762882645, + -212.3976065226064, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 450.716762882645, + -209.79953031125308, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 452.216762882645, + -207.20145409989976, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 453.716762882645, + -204.60337788854645, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 455.216762882645, + -202.00530167719313, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 456.716762882645, + -199.40722546583982, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 458.216762882645, + -196.8091492544865, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 459.716762882645, + -194.21107304313318, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 461.216762882645, + -191.61299683177987, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 462.716762882645, + -189.01492062042655, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 464.216762882645, + -186.41684440907324, + 2.155043050802382 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 464.216762882645, + -186.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 464.216762882645, + -183.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 464.216762882645, + -180.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 464.216762882645, + -177.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 464.216762882645, + -174.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 464.216762882645, + -171.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 464.216762882645, + -168.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 464.216762882645, + -165.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 464.216762882645, + -162.41684440907324, + 2.155043050802382 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 464.216762882645, + -159.41684440907324, + 2.155043050802382 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-25-29_1941690360/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-25-29_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef34a27d0ed8d02803cc0341056a21820375a405 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-25-29_1941690360/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 299.7179261621108, + 22.25620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 302.31600237346413, + 23.75620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.91407858481745, + 25.25620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 307.51215479617076, + 26.75620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 310.1102310075241, + 28.25620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 312.7083072188774, + 29.75620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 315.3063834302307, + 31.25620243074055, + -1.7191959320766985 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 315.3063834302307, + 31.25620243074055, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 316.8063834302307, + 33.85427864209387, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.872314453125, + 55.07026977539062, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 318.3063834302307, + 36.45235485344718, + -1.7191959320766985 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 318.3063834302307, + 36.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 318.3063834302307, + 39.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 318.3063834302307, + 42.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 318.3063834302307, + 45.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.3063834302307, + 48.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 318.3063834302307, + 51.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 318.3063834302307, + 54.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 318.3063834302307, + 57.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 318.3063834302307, + 60.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.3063834302307, + 63.45235485344718, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 318.3063834302307, + 66.45235485344719, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 318.3063834302307, + 69.45235485344719, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.3063834302307, + 72.45235485344719, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 318.3063834302307, + 75.45235485344719, + -1.7191959320766985 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 318.3063834302307, + 78.45235485344719, + -1.7191959320766985 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-27-27_1866000081/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-27-27_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f8392b42f53f1737f60691bbeac5387f6e31cb4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-27-27_1866000081/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 436.6144582878719, + -297.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 436.6144582878719, + -294.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 436.6144582878719, + -291.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 436.6144582878719, + -288.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.6144582878719, + -285.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 436.6144582878719, + -282.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 436.6144582878719, + -279.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 436.6144582878719, + -276.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 436.6144582878719, + -273.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 436.6144582878719, + -270.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 436.6144582878719, + -267.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 436.6144582878719, + -264.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 436.6144582878719, + -261.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 436.6144582878719, + -258.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 436.6144582878719, + -255.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 436.6144582878719, + -252.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 436.6144582878719, + -249.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.6144582878719, + -246.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 436.6144582878719, + -243.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 436.6144582878719, + -240.13086501271647, + 3.302660408115843 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 436.6144582878719, + -240.13086501271647, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 435.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 432.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 429.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 426.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 423.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 420.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 417.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 414.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 411.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 408.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 405.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 402.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 399.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 396.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 393.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 390.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 387.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 384.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 381.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 378.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 375.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 372.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 372.1144582878719, + -237.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 369.5163820765186, + -236.03278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 366.9183058651653, + -234.53278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 364.32022965381196, + -233.03278880136315, + 3.302660408115843 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 361.72215344245865, + -231.53278880136315, + 3.302660408115843 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-28-58_2002495425/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-28-58_2002495425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10a54865047e07e304b1c55d3145b9d62f775fc4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-28-58_2002495425/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 416.02495054581794, + -179.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 413.4268743344646, + -181.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.8287981231113, + -182.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.230721911758, + -184.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.6326457004047, + -185.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.03456948905136, + -187.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 400.43649327769805, + -188.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 397.83841706634473, + -190.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 395.2403408549914, + -191.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.6422646436381, + -193.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.0441884322848, + -194.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 387.44611222093147, + -196.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 384.84803600957815, + -197.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 382.24995979822484, + -199.2129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 379.6518835868715, + -200.7129270398084, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 379.6518835868715, + -200.7129270398084, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.1518835868715, + -203.3110032511617, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 376.6518835868715, + -205.90907946251502, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 375.1518835868715, + -208.50715567386834, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 373.6518835868715, + -211.10523188522166, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 372.1518835868715, + -213.70330809657497, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 370.6518835868715, + -216.3013843079283, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 369.1518835868715, + -218.8994605192816, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 367.6518835868715, + -221.49753673063492, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 366.1518835868715, + -224.09561294198824, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 364.6518835868715, + -226.69368915334155, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 363.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 366.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 369.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 372.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 375.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 378.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 381.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 384.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 387.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 390.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 393.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 396.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 399.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 402.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 405.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 408.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 411.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 414.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 417.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 420.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 423.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 426.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 429.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 432.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 432.1518835868715, + -229.29176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 434.74995979822484, + -230.79176536469487, + -1.4155490720071433 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 437.34803600957815, + -232.29176536469487, + -1.4155490720071433 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-44-21_1426819080/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-44-21_1426819080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..174d8daae48416e97937ef652a2565700d483230 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-44-21_1426819080/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.4468687231799, + 160.30772565146475, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.9468687231799, + 157.70964944011143, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 281.4468687231799, + 155.11157322875812, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.9468687231799, + 152.5134970174048, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.4468687231799, + 149.9154208060515, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.9468687231799, + 147.31734459469817, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 287.4468687231799, + 144.71926838334485, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 288.9468687231799, + 142.12119217199154, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.4468687231799, + 139.52311596063822, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 291.9468687231799, + 136.9250397492849, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.4468687231799, + 134.3269635379316, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.9468687231799, + 131.72888732657827, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.4468687231799, + 129.13081111522496, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 297.9468687231799, + 126.53273490387164, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 299.4468687231799, + 123.93465869251833, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 300.9468687231799, + 121.33658248116501, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 302.4468687231799, + 118.7385062698117, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 303.9468687231799, + 116.14043005845838, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 305.4468687231799, + 113.54235384710506, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 306.9468687231799, + 110.94427763575175, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 308.4468687231799, + 108.34620142439843, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 309.9468687231799, + 105.74812521304511, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 311.4468687231799, + 103.1500490016918, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 312.9468687231799, + 100.55197279033848, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 314.4468687231799, + 103.1500490016918, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.9468687231799, + 105.74812521304511, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 317.4468687231799, + 108.34620142439843, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.9468687231799, + 110.94427763575175, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 320.4468687231799, + 113.54235384710506, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 321.9468687231799, + 116.14043005845838, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.4468687231799, + 118.7385062698117, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 324.9468687231799, + 121.33658248116501, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 326.4468687231799, + 123.93465869251833, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 327.9468687231799, + 126.53273490387164, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 329.4468687231799, + 129.13081111522496, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 330.9468687231799, + 131.72888732657827, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 332.4468687231799, + 134.3269635379316, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 333.9468687231799, + 136.9250397492849, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 335.4468687231799, + 139.52311596063822, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 336.9468687231799, + 142.12119217199154, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 338.4468687231799, + 144.71926838334485, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 339.9468687231799, + 147.31734459469817, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 341.4468687231799, + 149.9154208060515, + -0.10362411571733876 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 342.9468687231799, + 152.5134970174048, + -0.10362411571733876 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-56-59_826047641/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-56-59_826047641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12a2e6b1209eb69aadf40fb5430d3f898da96975 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-56-59_826047641/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 309.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 312.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 315.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 318.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 321.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 324.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 324.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 324.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 324.50220041866135, + -573.2150511339773, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.00220041866135, + -570.616974922624, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 327.50220041866135, + -568.0188987112706, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 329.00220041866135, + -565.4208224999172, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 330.50220041866135, + -562.8227462885638, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.00220041866135, + -560.2246700772105, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 333.50220041866135, + -557.6265938658571, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 335.00220041866135, + -555.0285176545037, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.50220041866135, + -552.4304414431504, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.00220041866135, + -549.832365231797, + -1.1895935129616242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 339.50220041866135, + -547.2342890204436, + -1.1895935129616242 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_0-58-47_887077888/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-58-47_887077888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6074092282cec1209846230325fcbb043b63fd49 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_0-58-47_887077888/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 411.2643845719684, + -295.99897822653236, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 412.7643845719684, + -293.40090201517904, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.2643845719684, + -290.8028258038257, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 415.7643845719684, + -288.2047495924724, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 417.2643845719684, + -285.6066733811191, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 418.7643845719684, + -283.0085971697658, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 420.2643845719684, + -280.41052095841246, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 421.7643845719684, + -277.81244474705915, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 423.2643845719684, + -275.21436853570583, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 424.7643845719684, + -272.6162923243525, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 426.2643845719684, + -270.0182161129992, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 427.7643845719684, + -267.4201399016459, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 429.2643845719684, + -264.82206369029257, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.7643845719684, + -262.22398747893925, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 432.2643845719684, + -259.62591126758593, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.7643845719684, + -257.0278350562326, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 435.2643845719684, + -254.4297588448793, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.7643845719684, + -251.831682633526, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 438.2643845719684, + -249.23360642217267, + 1.5760758244041462 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 438.2643845719684, + -249.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.2643845719684, + -246.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.2643845719684, + -243.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.2643845719684, + -240.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 438.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 432.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 429.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 426.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 423.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 420.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 417.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 414.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 411.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 408.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 405.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 402.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 399.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 396.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 393.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 390.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 387.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 384.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 381.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 378.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 375.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 372.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 369.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 369.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 369.2643845719684, + -237.23360642217267, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 367.7643845719684, + -234.63553021081935, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 366.2643845719684, + -232.03745399946604, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 364.7643845719684, + -229.43937778811272, + 1.5760758244041462 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 363.2643845719684, + -226.8413015767594, + 1.5760758244041462 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_1-23-40_1635550270/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-23-40_1635550270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dca1457a9aaf85bd7796987ceeaa2bf7f0fa5522 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-23-40_1635550270/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 217.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 220.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 223.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 229.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 232.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 235.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 241.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 244.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 247.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 250.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 253.06688475757406, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 256.06688475757403, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 256.06688475757403, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 258.66496096892735, + 153.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 261.26303718028066, + 151.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 263.861113391634, + 150.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 266.4591896029873, + 148.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 269.0572658143406, + 147.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 271.6553420256939, + 145.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 274.25341823704724, + 144.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.85149444840056, + 142.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 279.4495706597539, + 141.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 282.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 282.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 282.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 285.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 288.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 291.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 294.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 300.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 306.0476468711072, + 139.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 308.6457230824605, + 141.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 311.2437992938138, + 142.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 313.84187550516714, + 144.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 316.43995171652045, + 145.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 319.03802792787377, + 147.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 321.6361041392271, + 148.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 324.2341803505804, + 150.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 326.8322565619337, + 151.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 329.43033277328703, + 153.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 332.02840898464035, + 154.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 334.62648519599367, + 156.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 337.224561407347, + 157.84425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 339.8226376187003, + 159.34425052620523, + 0.4265446381638256 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 342.4207138300536, + 160.84425052620523, + 0.4265446381638256 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_1-39-58_126401947/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-39-58_126401947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd6030765fbb3d4bc5ca6602d12e81da57660243 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-39-58_126401947/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 464.3165555652297, + 266.9148735205489, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 465.8165555652297, + 269.5129497319022, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 467.3165555652297, + 272.1110259432555, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 468.8165555652297, + 274.70910215460884, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 470.3165555652297, + 277.30717836596216, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 471.8165555652297, + 279.9052545773155, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 473.3165555652297, + 282.5033307886688, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 474.8165555652297, + 285.1014070000221, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 476.3165555652297, + 287.6994832113754, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 477.8165555652297, + 290.29755942272874, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.3165555652297, + 292.89563563408205, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.8165555652297, + 295.49371184543537, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 482.3165555652297, + 298.0917880567887, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 483.8165555652297, + 300.689864268142, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 485.3165555652297, + 303.2879404794953, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 486.8165555652297, + 305.88601669084863, + 1.4207261066922108 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 486.8165555652297, + 305.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 489.414631776583, + 307.38601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 492.0127079879363, + 308.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.61078419928964, + 310.38601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 497.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 494.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 491.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 488.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 485.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 482.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 479.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 476.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 473.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 470.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 467.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 464.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 461.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 458.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 455.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 452.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 449.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 446.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 443.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 440.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 437.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 434.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 431.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 431.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 431.20886041064296, + 311.88601669084863, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 429.70886041064296, + 314.48409290220195, + 1.4207261066922108 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 428.20886041064296, + 317.08216911355527, + 1.4207261066922108 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_1-50-8_1372261796/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-50-8_1372261796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a748abebaca692af3820de3bf2dd24306c9c47b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-50-8_1372261796/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 420.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 423.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 426.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 426.8166608889799, + -199.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.3166608889799, + -196.48827384200524, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 429.8166608889799, + -193.89019763065193, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 431.3166608889799, + -191.2921214192986, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 432.8166608889799, + -188.6940452079453, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 434.3166608889799, + -186.09596899659198, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 435.8166608889799, + -183.49789278523866, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 437.3166608889799, + -180.89981657388535, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 438.8166608889799, + -178.30174036253203, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 440.3166608889799, + -175.7036641511787, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.8166608889799, + -173.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 441.8166608889799, + -173.1055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.41473710033324, + -171.6055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 447.01281331168656, + -170.1055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 449.6108895230399, + -168.6055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 452.2089657343932, + -167.1055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 454.8070419457465, + -165.6055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.4051181570998, + -164.1055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 460.00319436845314, + -162.6055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 462.60127057980645, + -161.1055879398254, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 461.10127057980645, + -163.7036641511787, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 459.60127057980645, + -166.30174036253203, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 458.10127057980645, + -168.89981657388535, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 456.60127057980645, + -171.49789278523866, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 455.10127057980645, + -174.09596899659198, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 453.60127057980645, + -176.6940452079453, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 452.10127057980645, + -179.2921214192986, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 450.60127057980645, + -181.89019763065193, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 449.10127057980645, + -184.48827384200524, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 447.60127057980645, + -187.08635005335856, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 446.10127057980645, + -189.68442626471187, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 444.60127057980645, + -192.2825024760652, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 443.10127057980645, + -194.8805786874185, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 441.60127057980645, + -197.47865489877182, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 440.10127057980645, + -200.07673111012514, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 438.60127057980645, + -202.67480732147845, + 0.8527279161873764 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 438.60127057980645, + -202.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 438.60127057980645, + -205.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 438.60127057980645, + -208.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 438.60127057980645, + -211.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 438.60127057980645, + -214.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 438.60127057980645, + -217.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 438.60127057980645, + -220.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 438.60127057980645, + -223.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 438.60127057980645, + -226.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 438.60127057980645, + -229.67480732147845, + 0.8527279161873764 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 438.60127057980645, + -232.67480732147845, + 0.8527279161873764 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_1-56-35_262692685/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-56-35_262692685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..644062996b107b3a7e39faeef5a54aa6d1381c70 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_1-56-35_262692685/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 311.58337592416626, + -573.8656421692859, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 313.08337592416626, + -571.2675659579327, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 314.58337592416626, + -568.6694897465793, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 316.08337592416626, + -566.0714135352259, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 317.58337592416626, + -563.4733373238726, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 319.08337592416626, + -560.8752611125192, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 320.58337592416626, + -558.2771849011658, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 322.08337592416626, + -555.6791086898124, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 323.58337592416626, + -553.0810324784591, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 325.08337592416626, + -550.4829562671057, + -3.8903223976134704 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 325.08337592416626, + -550.4829562671057, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 327.6814521355196, + -548.9829562671057, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 330.2795283468729, + -547.4829562671057, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.8776045582262, + -545.9829562671057, + -3.8903223976134704 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 332.8776045582262, + -545.9829562671057, + -3.8903223976134704 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 332.8776045582262, + -545.9829562671057, + -3.8903223976134704 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.8776045582262, + -545.9829562671057, + -3.8903223976134704 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.8776045582262, + -545.9829562671057, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 334.3776045582262, + -548.5810324784591, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 335.8776045582262, + -551.1791086898124, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 337.3776045582262, + -553.7771849011658, + -3.8903223976134704 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 337.3776045582262, + -553.7771849011658, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 339.9756807695795, + -555.2771849011658, + -3.8903223976134704 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 342.57375698093284, + -556.7771849011658, + -3.8903223976134704 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 355.68408203125, + -570.7853576660156, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_10-16-14_1603386966/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-16-14_1603386966/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..104164de8eefe1fe218473f1dff58ddd8c7553e6 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-16-14_1603386966/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 414.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 420.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 426.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 429.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 432.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 435.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 438.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 444.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.3840937917695, + -149.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.9821700031228, + -151.4656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 449.5802462144761, + -152.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 452.17832242582944, + -154.4656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.77639863718275, + -155.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 457.37447484853607, + -157.4656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 459.9725510598894, + -158.9656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 462.5706272712427, + -160.4656796792447, + -4.74364799882209 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 462.5706272712427, + -160.4656796792447, + -4.74364799882209 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 462.5706272712427, + -160.4656796792447, + -4.74364799882209 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 462.5706272712427, + -160.4656796792447, + -4.74364799882209 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 462.5706272712427, + -160.4656796792447, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.0706272712427, + -163.063755890598, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 459.5706272712427, + -165.66183210195132, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 458.0706272712427, + -168.25990831330463, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 456.5706272712427, + -170.85798452465795, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 455.0706272712427, + -173.45606073601127, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 453.5706272712427, + -176.05413694736458, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 452.0706272712427, + -178.6522131587179, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 450.5706272712427, + -181.25028937007121, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 449.0706272712427, + -183.84836558142453, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 447.5706272712427, + -186.44644179277785, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 446.0706272712427, + -189.04451800413116, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 444.5706272712427, + -191.64259421548448, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 443.0706272712427, + -194.2406704268378, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 441.5706272712427, + -196.8387466381911, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 440.0706272712427, + -199.43682284954443, + -4.74364799882209 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 440.0706272712427, + -199.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 440.0706272712427, + -202.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 440.0706272712427, + -205.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 440.0706272712427, + -208.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 440.0706272712427, + -211.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 440.0706272712427, + -214.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 440.0706272712427, + -217.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 440.0706272712427, + -220.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 440.0706272712427, + -223.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 440.0706272712427, + -226.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 440.0706272712427, + -229.43682284954443, + -4.74364799882209 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 440.0706272712427, + -232.43682284954443, + -4.74364799882209 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_10-19-5_570840516/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-19-5_570840516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80a7046f403ca09e90c0d2694d58a4dba3dd44c4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-19-5_570840516/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 362.2991372503708, + 242.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 362.2991372503708, + 239.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 362.2991372503708, + 236.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 362.2991372503708, + 233.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 362.2991372503708, + 230.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 362.2991372503708, + 227.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 362.2991372503708, + 224.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.2991372503708, + 221.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 362.2991372503708, + 218.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 362.2991372503708, + 215.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.2991372503708, + 212.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 362.2991372503708, + 209.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.2991372503708, + 206.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.2991372503708, + 203.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 362.2991372503708, + 200.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 362.2991372503708, + 197.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 362.2991372503708, + 194.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.2991372503708, + 191.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 362.2991372503708, + 188.56895746318276, + 0.9932683334460544 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 362.2991372503708, + 188.56895746318276, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 360.7991372503708, + 185.97088125182944, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 359.2991372503708, + 183.37280504047612, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 357.7991372503708, + 180.7747288291228, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 356.2991372503708, + 178.1766526177695, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 354.7991372503708, + 175.57857640641618, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 353.2991372503708, + 172.98050019506286, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 351.7991372503708, + 170.38242398370954, + 0.9932683334460544 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 351.7991372503708, + 170.38242398370954, + 0.9932683334460544 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 351.7991372503708, + 170.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 349.2010610390175, + 168.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.60298482766416, + 167.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 344.00490861631084, + 165.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 341.4068324049575, + 164.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 338.8087561936042, + 162.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 336.2106799822509, + 161.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 333.6126037708976, + 159.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 331.01452755954426, + 158.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 328.41645134819095, + 156.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 325.81837513683763, + 155.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 323.2202989254843, + 153.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 320.622222714131, + 152.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 318.0241465027777, + 150.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 315.42607029142437, + 149.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 312.82799408007105, + 147.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 310.22991786871773, + 146.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 307.6318416573644, + 144.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 305.0337654460111, + 143.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 302.4356892346578, + 141.88242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 299.83761302330447, + 140.38242398370954, + 0.9932683334460544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 297.23953681195115, + 138.88242398370954, + 0.9932683334460544 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_10-20-21_1268409912/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-20-21_1268409912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08d926fef94873f5311b1f76f816444dab2b85ce --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-20-21_1268409912/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 40.99988717520406, + -329.70587128856897, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 42.49988717520406, + -327.10779507721566, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.99988717520406, + -324.50971886586234, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.49988717520406, + -321.911642654509, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 46.99988717520406, + -319.3135664431557, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 48.49988717520406, + -316.7154902318024, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 49.99988717520406, + -314.1174140204491, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.49988717520406, + -311.51933780909576, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.99988717520406, + -308.92126159774244, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 54.49988717520406, + -306.3231853863891, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.99988717520406, + -303.7251091750358, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 57.49988717520406, + -301.1270329636825, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.99988717520406, + -298.5289567523292, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.49988717520406, + -295.93088054097586, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 61.99988717520406, + -293.33280432962255, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 63.49988717520406, + -290.73472811826923, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 64.99988717520407, + -288.1366519069159, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965956 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 66.49988717520407, + -285.5385756955626, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 66.49988717520407, + -285.5385756955626, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 69.09796338655738, + -284.0385756955626, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 71.6960395979107, + -282.5385756955626, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.29411580926401, + -281.0385756955626, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 74.29411580926401, + -281.0385756955626, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 74.29411580926401, + -281.0385756955626, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 74.29411580926401, + -281.0385756955626, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 74.29411580926401, + -281.0385756955626, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 75.79411580926401, + -283.6366519069159, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 77.29411580926401, + -286.23472811826923, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.79411580926401, + -288.83280432962255, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.29411580926401, + -291.43088054097586, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 81.79411580926401, + -294.0289567523292, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 83.29411580926401, + -296.6270329636825, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 84.79411580926401, + -299.2251091750358, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 86.29411580926401, + -301.8231853863891, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.79411580926401, + -304.42126159774244, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 89.29411580926401, + -307.01933780909576, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 90.79411580926401, + -309.6174140204491, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 92.29411580926401, + -312.2154902318024, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 93.79411580926401, + -314.8135664431557, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 95.29411580926401, + -317.411642654509, + 4.441880518753701 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 95.29411580926401, + -317.411642654509, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 95.29411580926401, + -320.411642654509, + 4.441880518753701 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 95.29411580926401, + -323.411642654509, + 4.441880518753701 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_10-30-34_1759592334/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-30-34_1759592334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db518a6035689703356d01eeaf22cba183d02494 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_10-30-34_1759592334/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.1360430580475, + -201.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 403.7341192694008, + -202.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.33219548075414, + -204.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.93027169210745, + -205.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 411.52834790346077, + -207.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.1264241148141, + -208.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 416.7245003261674, + -210.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.3225765375207, + -211.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 421.92065274887403, + -213.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 424.51872896022735, + -214.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 427.11680517158067, + -216.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 429.714881382934, + -217.70557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 432.3129575942873, + -219.20557335427515, + 0.7602338712882775 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 432.3129575942873, + -219.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 433.8129575942873, + -221.80364956562846, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 435.3129575942873, + -224.40172577698178, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 436.8129575942873, + -226.9998019883351, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 438.3129575942873, + -229.5978781996884, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 439.8129575942873, + -232.19595441104173, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.3129575942873, + -229.5978781996884, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 442.8129575942873, + -226.9998019883351, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 444.3129575942873, + -224.40172577698178, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 445.8129575942873, + -221.80364956562846, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 447.3129575942873, + -219.20557335427515, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 448.8129575942873, + -216.60749714292183, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 450.3129575942873, + -214.0094209315685, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 451.8129575942873, + -211.4113447202152, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 453.3129575942873, + -208.81326850886188, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 454.8129575942873, + -206.21519229750857, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 456.3129575942873, + -203.61711608615525, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 457.8129575942873, + -201.01903987480193, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 459.3129575942873, + -198.42096366344862, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 460.8129575942873, + -195.8228874520953, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 462.3129575942873, + -193.22481124074199, + 0.7602338712882775 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 462.3129575942873, + -193.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 462.3129575942873, + -190.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 462.3129575942873, + -187.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 462.3129575942873, + -184.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 462.3129575942873, + -181.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 462.3129575942873, + -178.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 462.3129575942873, + -175.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 462.3129575942873, + -172.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 462.3129575942873, + -169.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 462.3129575942873, + -166.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 462.3129575942873, + -163.22481124074199, + 0.7602338712882775 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.3129575942873, + -160.22481124074199, + 0.7602338712882775 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_2-28-41_1738110294/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-28-41_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c88d9f71f20a48e9e6fcb9901b4154126a387b4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-28-41_1738110294/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 362.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 359.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 356.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 353.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 350.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 347.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 344.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 341.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 335.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 332.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 329.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 329.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 329.3854782035841, + 150.10118853807427, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 327.8854782035841, + 147.50311232672095, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.3854782035841, + 144.90503611536764, + 4.567445711411194 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 326.3854782035841, + 144.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.3854782035841, + 141.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.3854782035841, + 138.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.3854782035841, + 135.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 326.3854782035841, + 132.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 326.3854782035841, + 129.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 326.3854782035841, + 126.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.3854782035841, + 123.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.3854782035841, + 120.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 326.3854782035841, + 117.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.3854782035841, + 114.90503611536764, + 4.567445711411194 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 326.3854782035841, + 114.90503611536764, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 324.8854782035841, + 112.30695990401432, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 323.3854782035841, + 109.708883692661, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 321.8854782035841, + 107.11080748130769, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 320.3854782035841, + 104.51273126995437, + 4.567445711411194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.8854782035841, + 101.91465505860106, + 4.567445711411194 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_2-33-43_1265122573/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-33-43_1265122573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5fdaa4939e83f84cd945993999b502a69d6171f --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-33-43_1265122573/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 486.393103654559, + -252.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 489.393103654559, + -252.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 492.393103654559, + -252.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.393103654559, + -252.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.99117986591233, + -250.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.2569458007812, + -224.40541381835936, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 497.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 494.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 491.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 488.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 485.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 482.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 479.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 476.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 473.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 470.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 467.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 467.58925607726565, + -249.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 464.99117986591233, + -247.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 462.393103654559, + -246.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 459.7950274432057, + -244.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.1969512318524, + -243.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 454.59887502049907, + -241.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 452.00079880914575, + -240.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 449.40272259779243, + -238.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 446.8046463864391, + -237.34268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 444.2065701750858, + -235.84268977242627, + 2.1621432359823025 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 441.6084939637325, + -234.34268977242627, + 2.1621432359823025 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_2-35-19_2030449291/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-35-19_2030449291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..246f41c3f0bf8e70974c038582bedc3ba480f49f --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-35-19_2030449291/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 32.76759606913538, + -317.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 35.365672280488695, + -316.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 37.96374849184201, + -314.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 40.56182470319533, + -313.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 43.15990091454864, + -311.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.75797712590196, + -310.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.356053337255275, + -308.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 50.95412954860859, + -307.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.55220575996191, + -305.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 56.15028197131522, + -304.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 58.74835818266854, + -302.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.346434394021855, + -301.29717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 63.94451060537517, + -299.79717540295707, + -2.532960268621265 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 63.94451060537517, + -299.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 65.44451060537517, + -297.19909919160375, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.94451060537517, + -294.60102298025043, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 68.44451060537517, + -292.0029467688971, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 69.94451060537517, + -289.4048705575438, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 71.44451060537517, + -286.8067943461905, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 72.94451060537517, + -284.20871813483717, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 74.44451060537517, + -281.61064192348385, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 75.94451060537517, + -284.20871813483717, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 77.44451060537517, + -286.8067943461905, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.94451060537517, + -289.4048705575438, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.44451060537517, + -292.0029467688971, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 81.94451060537517, + -294.60102298025043, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 83.44451060537517, + -297.19909919160375, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 84.94451060537517, + -299.79717540295707, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 86.44451060537517, + -302.3952516143104, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.94451060537517, + -304.9933278256637, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 89.44451060537517, + -307.591404037017, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 90.94451060537517, + -310.18948024837033, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 92.44451060537517, + -312.78755645972365, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 93.94451060537517, + -315.38563267107696, + -2.532960268621265 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 93.94451060537517, + -315.38563267107696, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 93.94451060537517, + -318.38563267107696, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 93.94451060537517, + -321.38563267107696, + -2.532960268621265 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 93.94451060537517, + -324.38563267107696, + -2.532960268621265 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_2-40-58_1130698571/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-40-58_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7558e58d2e43226519d850a7d40d3f1d48dda11 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-40-58_1130698571/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 337.58374025133264, + -410.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 334.9856640399793, + -411.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 332.387587828626, + -413.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 329.7895116172727, + -414.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 327.1914354059194, + -416.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 324.59335919456606, + -417.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 321.99528298321275, + -419.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 319.39720677185943, + -420.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 316.7991305605061, + -422.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 314.2010543491528, + -423.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 311.6029781377995, + -425.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 309.00490192644617, + -426.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.40682571509285, + -428.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 303.80874950373953, + -429.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.2106732923862, + -431.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.6125970810329, + -432.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.0145208696796, + -434.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 293.41644465832627, + -435.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.81836844697295, + -437.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.22029223561964, + -438.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.6222160242663, + -440.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.024139812913, + -441.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 280.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 280.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 277.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 274.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 277.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 280.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 283.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 286.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 289.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 292.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 295.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 298.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.4260636015597, + -443.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 301.024139812913, + -444.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 303.6222160242663, + -446.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 306.22029223561964, + -447.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 308.81836844697295, + -449.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 311.41644465832627, + -450.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 314.0145208696796, + -452.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 316.6125970810329, + -453.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 319.2106732923862, + -455.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 321.80874950373953, + -456.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 324.40682571509285, + -458.1465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 327.00490192644617, + -459.6465733864695, + 3.9802398681233235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 329.6029781377995, + -461.1465733864695, + 3.9802398681233235 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_2-59-48_1434433518/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-59-48_1434433518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50b83acfc01c1aacd68fd0d4dd2ce61e58ff4fa4 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_2-59-48_1434433518/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.4972195181424, + 92.09106417197532, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 273.9972195181424, + 94.68914038332863, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 275.4972195181424, + 97.28721659468195, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 276.9972195181424, + 99.88529280603527, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 278.4972195181424, + 102.48336901738858, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 279.9972195181424, + 105.0814452287419, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 281.4972195181424, + 107.67952144009521, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 282.9972195181424, + 110.27759765144853, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 284.4972195181424, + 112.87567386280185, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.9972195181424, + 115.47375007415516, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 287.4972195181424, + 118.07182628550848, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.9972195181424, + 120.6699024968618, + 4.979474403985057 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.9972195181424, + 120.6699024968618, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 288.9972195181424, + 123.6699024968618, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 288.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 288.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 291.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 291.9972195181424, + 126.6699024968618, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 294.5952957294957, + 128.1699024968618, + 4.979474403985057 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.5952957294957, + 128.1699024968618, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 296.0952957294957, + 130.7679787082151, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 297.5952957294957, + 133.36605491956843, + 4.979474403985057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 297.5952957294957, + 133.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 300.19337194084903, + 134.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.79144815220235, + 136.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 305.38952436355567, + 137.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.987600574909, + 139.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 310.5856767862623, + 140.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 313.1837529976156, + 142.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 315.78182920896893, + 143.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 318.37990542032225, + 145.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 320.97798163167556, + 146.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 323.5760578430289, + 148.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 326.1741340543822, + 149.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 328.7722102657355, + 151.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 331.3702864770888, + 152.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 333.96836268844214, + 154.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 336.56643889979546, + 155.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 339.1645151111488, + 157.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 341.7625913225021, + 158.86605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 344.3606675338554, + 160.36605491956843, + 4.979474403985057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 346.9587437452087, + 161.86605491956843, + 4.979474403985057 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_3-31-31_513937457/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-31-31_513937457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d304bc745ab179bd3734e0bb416cf8bcc4fa14f --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-31-31_513937457/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 352.8302083462641, + 240.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.8302083462641, + 237.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.8302083462641, + 234.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 352.8302083462641, + 231.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 352.8302083462641, + 228.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 352.8302083462641, + 225.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 352.8302083462641, + 222.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 352.8302083462641, + 219.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 352.8302083462641, + 216.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 352.8302083462641, + 213.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.8302083462641, + 210.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 352.8302083462641, + 207.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 352.8302083462641, + 204.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.8302083462641, + 201.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.8302083462641, + 198.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.8302083462641, + 195.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 352.8302083462641, + 192.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.8302083462641, + 189.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.8302083462641, + 186.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 352.8302083462641, + 183.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 352.8302083462641, + 180.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 352.8302083462641, + 177.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 352.8302083462641, + 174.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 352.8302083462641, + 171.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 352.8302083462641, + 168.52376578161025, + 2.1569741165153093 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 352.8302083462641, + 168.52376578161025, + 2.1569741165153093 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 352.8302083462641, + 168.52376578161025, + 2.1569741165153093 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 352.8302083462641, + 168.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 350.2321321349108, + 167.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 347.63405592355747, + 165.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 345.03597971220415, + 164.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 342.43790350085084, + 162.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 339.8398272894975, + 161.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 337.2417510781442, + 159.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 334.6436748667909, + 158.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 332.0455986554376, + 156.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 329.44752244408426, + 155.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 326.84944623273094, + 153.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 324.2513700213776, + 152.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 321.6532938100243, + 150.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 319.055217598671, + 149.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 316.4571413873177, + 147.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 313.85906517596436, + 146.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 311.26098896461104, + 144.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 308.66291275325773, + 143.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 306.0648365419044, + 141.52376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 303.4667603305511, + 140.02376578161025, + 2.1569741165153093 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 303.4667603305511, + 140.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 300.4667603305511, + 140.02376578161025, + 2.1569741165153093 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 297.4667603305511, + 140.02376578161025, + 2.1569741165153093 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 292.3796691894531, + 138.24718017578124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_3-46-56_1435218189/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-46-56_1435218189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b45bc8067751b0f856b2ea9380c4174b27804b5 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-46-56_1435218189/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.4703043949593, + -272.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 383.06838060631264, + -271.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.66645681766596, + -269.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.2645330290193, + -268.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.8626092403726, + -266.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 393.4606854517259, + -265.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 396.0587616630792, + -263.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.65683787443254, + -262.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 401.25491408578586, + -260.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 403.8529902971392, + -259.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 406.4510665084925, + -257.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 409.0491427198458, + -256.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.6472189311991, + -254.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 414.24529514255244, + -253.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.84337135390575, + -251.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 419.44144756525907, + -250.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 422.0395237766124, + -248.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 424.6375999879657, + -247.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 427.235676199319, + -245.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 429.83375241067233, + -244.35685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 432.43182862202565, + -242.85685426298176, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 432.43182862202565, + -242.85685426298176, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 433.93182862202565, + -240.25877805162844, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 435.43182862202565, + -237.66070184027512, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 436.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 433.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 430.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 427.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 424.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 421.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 418.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 415.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 412.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 409.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 406.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 403.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 400.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 397.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 394.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 391.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 388.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 385.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 382.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 379.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 376.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 373.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 373.93182862202565, + -235.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 371.33375241067233, + -233.5626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 368.735676199319, + -232.0626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 366.1375999879657, + -230.5626256289218, + -2.7762750470890847 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 363.5395237766124, + -229.0626256289218, + -2.7762750470890847 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.146240234375, + -228.59210510253905, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_3-49-27_262178224/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-49-27_262178224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c05daed6cd33bd5f10c9dcfd251f0e66270a2731 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-49-27_262178224/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 6.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 9.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 12.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 15.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 24.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 27.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 30.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 33.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 36.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 39.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 42.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 48.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 51.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 54.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 60.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.976818697379855, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 66.97681869737985, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 69.97681869737985, + -283.94246167987734, + -0.528822898077947 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 69.97681869737985, + -283.94246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 72.57489490873317, + -282.44246167987734, + -0.528822898077947 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 72.57489490873317, + -282.44246167987734, + -0.528822898077947 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 72.57489490873317, + -282.44246167987734, + -0.528822898077947 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 72.57489490873317, + -282.44246167987734, + -0.528822898077947 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 72.57489490873317, + -282.44246167987734, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 74.07489490873317, + -285.04053789123066, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 75.57489490873317, + -287.638614102584, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 77.07489490873317, + -290.2366903139373, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 78.57489490873317, + -292.8347665252906, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 80.07489490873317, + -295.4328427366439, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 81.57489490873317, + -298.03091894799724, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 83.07489490873317, + -300.62899515935055, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 84.57489490873317, + -303.22707137070387, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 86.07489490873317, + -305.8251475820572, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 87.57489490873317, + -308.4232237934105, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 89.07489490873317, + -311.0213000047638, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 90.57489490873317, + -313.61937621611713, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 92.07489490873317, + -316.21745242747045, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 93.57489490873317, + -318.81552863882376, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 95.07489490873317, + -321.4136048501771, + -0.528822898077947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 96.57489490873317, + -324.0116810615304, + -0.528822898077947 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_3-8-25_772970072/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-8-25_772970072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fe68e106e45340988978a27e45109ae8071cd61 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_3-8-25_772970072/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 265.6693232412118, + 151.8200507704755, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 267.1693232412118, + 149.22197455912217, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 268.6693232412118, + 146.62389834776886, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 270.1693232412118, + 144.02582213641554, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 271.6693232412118, + 141.42774592506223, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.1693232412118, + 138.8296697137089, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.6693232412118, + 136.2315935023556, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 276.1693232412118, + 133.63351729100228, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.6693232412118, + 131.03544107964896, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 279.1693232412118, + 128.43736486829565, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 280.6693232412118, + 125.83928865694233, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 282.1693232412118, + 123.24121244558901, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 283.6693232412118, + 120.6431362342357, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.1693232412118, + 118.04506002288238, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.1693232412118, + 118.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 287.76739945256514, + 116.54506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.36547566391846, + 115.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 292.9635518752718, + 113.54506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 295.5616280866251, + 112.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 298.1597042979784, + 110.54506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 300.7577805093317, + 109.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 303.35585672068504, + 107.54506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 305.95393293203836, + 106.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 308.5520091433917, + 104.54506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 311.150085354745, + 103.04506002288238, + -1.4638844421169193 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.150085354745, + 103.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.650085354745, + 100.44698381152907, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 314.150085354745, + 103.04506002288238, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.650085354745, + 105.6431362342357, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 317.150085354745, + 108.24121244558901, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 318.650085354745, + 110.83928865694233, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 320.150085354745, + 113.43736486829565, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 321.650085354745, + 116.03544107964896, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 323.150085354745, + 118.63351729100228, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 324.650085354745, + 121.2315935023556, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 326.150085354745, + 123.82966971370891, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 327.650085354745, + 126.42774592506223, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 329.150085354745, + 129.02582213641554, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 330.650085354745, + 131.62389834776886, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 332.150085354745, + 134.22197455912217, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 333.650085354745, + 136.8200507704755, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 335.150085354745, + 139.4181269818288, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 336.650085354745, + 142.01620319318212, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 338.150085354745, + 144.61427940453544, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 339.650085354745, + 147.21235561588875, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 341.150085354745, + 149.81043182724207, + -1.4638844421169193 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 342.650085354745, + 152.4085080385954, + -1.4638844421169193 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_4-50-54_216220853/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_4-50-54_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9af6cb9e65a2dcdc8d0a43ffddf3d27383b781f6 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_4-50-54_216220853/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 462.1203357098998, + 268.0419327259233, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 463.6203357098998, + 270.6400089372766, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 465.1203357098998, + 273.2380851486299, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 466.6203357098998, + 275.83616135998324, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.1203357098998, + 278.43423757133655, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 469.6203357098998, + 281.03231378268987, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 471.1203357098998, + 283.6303899940432, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 472.6203357098998, + 286.2284662053965, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 474.1203357098998, + 288.8265424167498, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 475.6203357098998, + 291.42461862810313, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 477.1203357098998, + 294.02269483945645, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 478.6203357098998, + 296.62077105080976, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 480.1203357098998, + 299.2188472621631, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 481.6203357098998, + 301.8169234735164, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 483.1203357098998, + 304.4149996848697, + -4.825983733528257 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 483.1203357098998, + 304.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 485.7184119212531, + 305.9149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 488.3164881326064, + 307.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 490.91456434395974, + 308.9149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 493.51264055531306, + 310.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 496.11071676666637, + 311.9149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 498.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 495.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 492.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 489.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 486.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 483.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 480.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 477.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 474.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 471.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 468.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 465.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 462.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 459.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 456.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 453.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 450.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 447.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 444.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 441.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 438.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 435.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 432.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 432.7087929780197, + 313.4149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 430.11071676666637, + 314.9149996848697, + -4.825983733528257 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 427.51264055531306, + 316.4149996848697, + -4.825983733528257 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_5-20-17_1528806445/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-20-17_1528806445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0757372bdd18416d5a5ae13ce9b7d06dfec899 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-20-17_1528806445/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 485.5747434610589, + 258.1106139966983, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 487.0747434610589, + 260.7086902080516, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 488.5747434610589, + 263.30676641940494, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 490.0747434610589, + 265.90484263075825, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 491.5747434610589, + 268.50291884211157, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 493.0747434610589, + 271.1009950534649, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 494.5747434610589, + 273.6990712648182, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 496.0747434610589, + 276.2971474761715, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.5747434610589, + 278.89522368752483, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 499.0747434610589, + 281.49329989887815, + -4.101206627641632 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 499.0747434610589, + 281.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 499.0747434610589, + 284.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 499.0747434610589, + 287.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 499.0747434610589, + 290.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 499.0747434610589, + 293.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 499.0747434610589, + 296.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 506.45226440429684, + 322.055029296875, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 499.0747434610589, + 299.49329989887815, + -4.101206627641632 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 499.0747434610589, + 299.49329989887815, + -4.101206627641632 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 499.0747434610589, + 299.49329989887815, + -4.101206627641632 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 499.0747434610589, + 299.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 496.4766672497056, + 300.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 493.8785910383523, + 302.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 491.28051482699897, + 303.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 488.68243861564565, + 305.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 486.08436240429234, + 306.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 483.486286192939, + 308.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 480.8882099815857, + 309.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 478.2901337702324, + 311.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 475.69205755887907, + 312.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 473.09398134752576, + 314.49329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 470.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 470.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 467.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 464.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 461.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 458.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 455.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 452.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 449.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 446.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 443.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 440.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 437.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 434.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 431.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 428.49590513617244, + 315.99329989887815, + -4.101206627641632 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 425.68288574218747, + 316.59422607421874, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_5-34-3_470631541/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-34-3_470631541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b07c2d050a8d867fa57b7a330e365456199a1a04 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-34-3_470631541/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 296.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 299.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 302.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 305.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 308.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 314.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 314.2244602533295, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 316.8225364646828, + 202.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 319.4206126760361, + 203.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.01868888738943, + 205.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 324.61676509874275, + 206.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 327.21484131009606, + 208.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 329.8129175214494, + 209.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 332.4109937328027, + 211.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 335.009069944156, + 212.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.6071461555093, + 214.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 340.20522236686264, + 215.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 342.80329857821596, + 217.27781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 345.4013747895693, + 218.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 345.4013747895693, + 215.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 345.4013747895693, + 212.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 345.4013747895693, + 209.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 345.4013747895693, + 206.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 345.4013747895693, + 203.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 345.4013747895693, + 200.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 345.4013747895693, + 197.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 345.4013747895693, + 194.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 345.4013747895693, + 191.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 345.4013747895693, + 188.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 345.4013747895693, + 185.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 345.4013747895693, + 182.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 345.4013747895693, + 179.77781037230048, + 4.621489247277724 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 345.4013747895693, + 179.77781037230048, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 346.9013747895693, + 177.17973416094716, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 348.4013747895693, + 174.58165794959385, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 349.9013747895693, + 171.98358173824053, + 4.621489247277724 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 351.4013747895693, + 169.38550552688721, + 4.621489247277724 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_5-4-30_1609416931/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-4-30_1609416931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1d52381e1a5f2241517bc0e49945e74d96b8f3b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-4-30_1609416931/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 79.01652769005372, + -376.215304392533, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 80.51652769005372, + -373.6172281811797, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.01652769005372, + -371.0191519698264, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 83.51652769005372, + -368.4210757584731, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.01652769005372, + -365.82299954711976, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.51652769005372, + -363.22492333576645, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 88.01652769005372, + -360.62684712441313, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 89.51652769005372, + -358.0287709130598, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.01652769005372, + -355.4306947017065, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 92.51652769005372, + -352.8326184903532, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.01652769005372, + -350.23454227899987, + 3.1946508594067407 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.01652769005372, + -350.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 94.01652769005372, + -347.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 94.01652769005372, + -344.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 94.01652769005372, + -341.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 94.01652769005372, + -338.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 94.01652769005372, + -335.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 94.01652769005372, + -332.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 94.01652769005372, + -329.23454227899987, + 3.1946508594067407 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 94.01652769005372, + -329.23454227899987, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 92.51652769005372, + -326.63646606764655, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 91.01652769005372, + -324.03838985629324, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 89.51652769005372, + -321.4403136449399, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 88.01652769005372, + -318.8422374335866, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 86.51652769005372, + -316.2441612222333, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 85.01652769005372, + -313.64608501088, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 83.51652769005372, + -311.04800879952666, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 82.01652769005372, + -308.44993258817334, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 80.51652769005372, + -305.85185637682, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 79.01652769005372, + -303.2537801654667, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 77.51652769005372, + -300.6557039541134, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 76.01652769005372, + -298.0576277427601, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 74.51652769005372, + -295.45955153140676, + 3.1946508594067407 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 74.51652769005372, + -295.45955153140676, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 74.51652769005372, + -292.45955153140676, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 74.51652769005372, + -289.45955153140676, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 74.51652769005372, + -286.45955153140676, + 3.1946508594067407 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 74.51652769005372, + -283.45955153140676, + 3.1946508594067407 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_5-43-59_1688323172/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-43-59_1688323172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffabb6258eb07fa586902e83492022ba8651cb86 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-43-59_1688323172/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 217.277792149049, + -491.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 219.8758683604023, + -489.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 222.47394457175562, + -488.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 225.07202078310894, + -486.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 227.67009699446226, + -485.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.26817320581557, + -483.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.8662494171689, + -482.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 235.4643256285222, + -480.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 238.06240183987552, + -479.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 240.66047805122884, + -477.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 243.25855426258215, + -476.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.85663047393547, + -474.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 248.45470668528878, + -473.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 251.0527828966421, + -471.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 253.65085910799542, + -470.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 256.24893531934873, + -468.69490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 258.84701153070205, + -467.19490495119766, + 2.2644993249387344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 258.84701153070205, + -467.19490495119766, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 260.34701153070205, + -464.59682873984434, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 261.84701153070205, + -461.998752528491, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 263.34701153070205, + -459.4006763171377, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 264.84701153070205, + -456.8026001057844, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 266.34701153070205, + -454.2045238944311, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.84701153070205, + -451.60644768307776, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 269.34701153070205, + -449.00837147172444, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 270.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 270.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 270.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 273.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 276.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 279.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 282.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 285.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 288.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 291.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 294.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 303.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 306.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 309.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 312.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 315.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 318.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 318.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 318.84701153070205, + -446.41029526037113, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 320.34701153070205, + -449.00837147172444, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 321.84701153070205, + -451.60644768307776, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 323.34701153070205, + -454.2045238944311, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 324.84701153070205, + -456.8026001057844, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 326.34701153070205, + -459.4006763171377, + 2.2644993249387344 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 327.84701153070205, + -461.998752528491, + 2.2644993249387344 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_5-50-3_342146590/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-50-3_342146590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7c28225740b676e464be50a58fefceb7872517b --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_5-50-3_342146590/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 327.7613903091092, + -425.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 325.16331409775586, + -427.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 322.56523788640254, + -428.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 319.9671616750492, + -430.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 317.3690854636959, + -431.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 314.7710092523426, + -433.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 312.1729330409893, + -434.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 309.57485682963596, + -436.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.97678061828265, + -437.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.37870440692933, + -439.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 301.780628195576, + -440.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 299.1825519842227, + -442.2298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 296.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 296.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 290.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 287.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 284.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 281.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 275.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 278.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 281.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 284.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 287.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 293.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 299.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 302.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 308.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 311.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 314.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 314.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 314.5844757728694, + -443.7298091182247, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 316.0844757728694, + -446.327885329578, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 317.5844757728694, + -448.9259615409313, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 319.0844757728694, + -451.52403775228464, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 320.5844757728694, + -454.12211396363796, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 322.0844757728694, + -456.7201901749913, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 323.5844757728694, + -459.3182663863446, + 1.919318327607506 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 323.5844757728694, + -459.3182663863446, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 326.1825519842227, + -460.8182663863446, + 1.919318327607506 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 328.780628195576, + -462.3182663863446, + 1.919318327607506 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_6-17-46_1607774548/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-17-46_1607774548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..266566d1a1cba99d5152d64fe8ca3b6050988758 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-17-46_1607774548/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.7697381215723, + -208.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.7697381215723, + -208.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 393.7697381215723, + -208.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 396.7697381215723, + -208.2533528395261, + 4.997784797550214 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 396.7697381215723, + -208.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.3678143329256, + -209.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 401.9658905442789, + -211.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 404.56396675563224, + -212.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 407.16204296698555, + -214.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 409.76011917833887, + -215.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.3581953896922, + -217.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 414.9562716010455, + -218.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 417.5543478123988, + -220.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 420.15242402375213, + -221.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 422.75050023510545, + -223.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 425.34857644645876, + -224.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 427.9466526578121, + -226.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 430.5447288691654, + -227.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 433.1428050805187, + -229.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.74088129187203, + -230.7533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.16681518554685, + -234.17962951660155, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.33895750322534, + -232.2533528395261, + 4.997784797550214 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 438.33895750322534, + -232.2533528395261, + 4.997784797550214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 438.33895750322534, + -232.2533528395261, + 4.997784797550214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.33895750322534, + -232.2533528395261, + 4.997784797550214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.33895750322534, + -232.2533528395261, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.83895750322534, + -229.65527662817277, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 441.33895750322534, + -227.05720041681946, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 442.83895750322534, + -224.45912420546614, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 444.33895750322534, + -221.86104799411282, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 445.83895750322534, + -219.2629717827595, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 447.33895750322534, + -216.6648955714062, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 448.83895750322534, + -214.06681936005288, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 450.33895750322534, + -211.46874314869956, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 451.83895750322534, + -208.87066693734624, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 453.33895750322534, + -206.27259072599293, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 454.83895750322534, + -203.6745145146396, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 456.33895750322534, + -201.0764383032863, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 457.83895750322534, + -198.47836209193298, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 459.33895750322534, + -195.88028588057966, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 460.83895750322534, + -193.28220966922635, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 462.33895750322534, + -190.68413345787303, + 4.997784797550214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 462.33895750322534, + -190.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 462.33895750322534, + -187.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 462.33895750322534, + -184.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 462.33895750322534, + -181.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 462.33895750322534, + -178.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 462.33895750322534, + -175.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 462.33895750322534, + -172.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 462.33895750322534, + -169.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 462.33895750322534, + -166.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 462.33895750322534, + -163.68413345787303, + 4.997784797550214 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 462.33895750322534, + -160.68413345787303, + 4.997784797550214 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.39573974609374, + -158.26810302734373, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_6-34-14_1903409954/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-34-14_1903409954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faf9a295e24535d281d102f1b15fc52d28c64fb7 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-34-14_1903409954/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 288.79180531861124, + 142.63783042209496, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.29180531861124, + 140.03975421074165, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.79180531861124, + 137.44167799938833, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.29180531861124, + 134.84360178803502, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.79180531861124, + 132.2455255766817, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.29180531861124, + 129.64744936532838, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.79180531861124, + 127.04937315397507, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.29180531861124, + 124.45129694262175, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.79180531861124, + 121.85322073126844, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.29180531861124, + 119.25514451991512, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.79180531861124, + 116.6570683085618, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 305.29180531861124, + 114.05899209720849, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.79180531861124, + 111.46091588585517, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 308.29180531861124, + 108.86283967450186, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.79180531861124, + 106.26476346314854, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.29180531861124, + 103.66668725179522, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 318.59540405273435, + 93.20112915039061, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 312.79180531861124, + 101.06861104044191, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 314.29180531861124, + 103.66668725179522, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.79180531861124, + 106.26476346314854, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 317.29180531861124, + 108.86283967450186, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 318.79180531861124, + 111.46091588585517, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.29180531861124, + 114.05899209720849, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.79180531861124, + 116.6570683085618, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 323.29180531861124, + 119.25514451991512, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 324.79180531861124, + 121.85322073126844, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 326.29180531861124, + 124.45129694262175, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 327.79180531861124, + 127.04937315397507, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 329.29180531861124, + 129.64744936532838, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 330.79180531861124, + 132.2455255766817, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 332.29180531861124, + 134.84360178803502, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 333.79180531861124, + 137.44167799938833, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 335.29180531861124, + 140.03975421074165, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 336.79180531861124, + 142.63783042209496, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 338.29180531861124, + 145.23590663344828, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 339.79180531861124, + 147.8339828448016, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 341.29180531861124, + 150.4320590561549, + 0.5940919612879947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 342.79180531861124, + 153.03013526750823, + 0.5940919612879947 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_6-4-5_1209734969/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-4-5_1209734969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20ae17f6cfc07074221db541d85cbc4b258153b3 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_6-4-5_1209734969/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.63674240260966, + -508.7286102906618, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 240.13674240260966, + -506.13053407930846, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 241.63674240260966, + -503.53245786795515, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 243.13674240260966, + -500.93438165660183, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.63674240260966, + -498.3363054452485, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 246.13674240260966, + -495.7382292338952, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 247.63674240260966, + -493.1401530225419, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 249.13674240260966, + -490.54207681118856, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 250.63674240260966, + -487.94400059983525, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 252.13674240260966, + -485.34592438848193, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 253.63674240260966, + -482.7478481771286, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.13674240260966, + -480.1497719657753, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 256.6367424026097, + -477.551695754422, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965896 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 258.1367424026097, + -474.95361954306867, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 259.6367424026097, + -472.35554333171535, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 261.1367424026097, + -469.75746712036204, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.6367424026097, + -467.1593909090087, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 264.1367424026097, + -464.5613146976554, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 265.6367424026097, + -461.9632384863021, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 267.1367424026097, + -459.3651622749488, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 268.6367424026097, + -456.76708606359546, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 270.1367424026097, + -454.16900985224214, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 271.6367424026097, + -451.5709336408888, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 273.1367424026097, + -448.9728574295355, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 273.22150573730465, + -443.8516967773437, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 274.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 274.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 277.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 280.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 283.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 286.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 289.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 295.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 298.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 301.6367424026097, + -446.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.234818613963, + -447.8747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 306.8328948253163, + -449.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 309.43097103666963, + -450.8747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.02904724802295, + -452.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 314.62712345937626, + -453.8747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 317.2251996707296, + -455.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 319.8232758820829, + -456.8747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 322.4213520934362, + -458.3747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 325.0194283047895, + -459.8747812181822, + -4.416056579397212 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 327.61750451614284, + -461.3747812181822, + -4.416056579397212 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_7-1-58_1369893141/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-1-58_1369893141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..589c761dde2271e5beb02bb3baff9a832bdf8275 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-1-58_1369893141/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 403.0485751459185, + 110.80781091336641, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.5485751459185, + 113.40588712471973, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 400.0485751459185, + 116.00396333607304, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 398.5485751459185, + 118.60203954742636, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.0485751459185, + 121.20011575877967, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.5485751459185, + 123.79819197013299, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.0485751459185, + 126.3962681814863, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.5485751459185, + 128.99434439283962, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 391.0485751459185, + 131.59242060419294, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 389.5485751459185, + 134.19049681554625, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 388.0485751459185, + 136.78857302689957, + 2.883542880877801 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 388.0485751459185, + 136.78857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 385.4504989345652, + 138.28857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 382.8524227232119, + 139.78857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 380.25434651185856, + 141.28857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 377.65627030050524, + 142.78857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 375.0581940891519, + 144.28857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 372.4601178777986, + 145.78857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 369.8620416664453, + 147.28857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 367.263965455092, + 148.78857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 364.66588924373866, + 150.28857302689957, + 2.883542880877801 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.66588924373866, + 150.28857302689957, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 363.16588924373866, + 152.8866492382529, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.2564056396484, + 165.10284423828125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 361.66588924373866, + 155.4847254496062, + 2.883542880877801 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 361.66588924373866, + 155.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 361.66588924373866, + 158.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 361.66588924373866, + 161.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 361.66588924373866, + 164.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 361.66588924373866, + 167.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 361.66588924373866, + 170.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 361.66588924373866, + 173.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 361.66588924373866, + 176.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 361.66588924373866, + 179.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 361.66588924373866, + 182.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 361.66588924373866, + 185.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 361.66588924373866, + 188.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 361.66588924373866, + 191.4847254496062, + 2.883542880877801 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 361.66588924373866, + 191.4847254496062, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 360.16588924373866, + 194.08280166095952, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 358.66588924373866, + 196.68087787231283, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 357.16588924373866, + 199.27895408366615, + 2.883542880877801 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 355.66588924373866, + 201.87703029501947, + 2.883542880877801 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 353.7299438476562, + 219.7659912109375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_7-56-23_1835342733/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-56-23_1835342733/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92b1550526ce322df2e913a171251226cf1c89cb --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-56-23_1835342733/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 138.2679447007799, + -253.26236280240104, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 135.6698684894266, + -254.76236280240104, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 133.07179227807327, + -256.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 130.47371606671996, + -257.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 127.87563985536664, + -259.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 125.27756364401333, + -260.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 122.67948743266001, + -262.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 120.0814112213067, + -263.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 117.48333500995338, + -265.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 114.88525879860006, + -266.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 112.28718258724675, + -268.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 109.68910637589343, + -269.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.09103016454011, + -271.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 104.4929539531868, + -272.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 101.89487774183348, + -274.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 99.29680153048017, + -275.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 96.69872531912685, + -277.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 94.10064910777353, + -278.762362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 91.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 88.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 85.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 82.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 79.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.11437072753905, + -280.3661926269531, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 76.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 76.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 76.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 76.50257289642022, + -280.262362802401, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.00257289642022, + -282.86043901375433, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 79.50257289642022, + -285.45851522510765, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 81.00257289642022, + -288.05659143646096, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 82.50257289642022, + -290.6546676478143, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 84.00257289642022, + -293.2527438591676, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 85.50257289642022, + -295.8508200705209, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.00257289642022, + -298.4488962818742, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 88.50257289642022, + -301.04697249322754, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 90.00257289642022, + -303.64504870458086, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 91.50257289642022, + -306.2431249159342, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 93.00257289642022, + -308.8412011272875, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 94.50257289642022, + -311.4392773386408, + 2.067435672598875 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 94.50257289642022, + -311.4392773386408, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 94.50257289642022, + -314.4392773386408, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 94.50257289642022, + -317.4392773386408, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 94.50257289642022, + -320.4392773386408, + 2.067435672598875 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 94.50257289642022, + -323.4392773386408, + 2.067435672598875 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0310577392578, + -327.0901885986328, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_ecust/astar_data/long/2025-1-9_7-9-59_530406424/pose.jsonl b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-9-59_530406424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0d489ab0f4479a574d0be7f4672dbb27ad15588 --- /dev/null +++ b/Image/env_gs_ecust/astar_data/long/2025-1-9_7-9-59_530406424/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 275.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 281.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 281.5761309611287, + -488.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 284.174207172482, + -487.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 286.7722833838353, + -485.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.37035959518863, + -484.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 291.96843580654195, + -482.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.56651201789526, + -481.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.1645882292486, + -479.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 299.7626644406019, + -478.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 302.3607406519552, + -476.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.9588168633085, + -475.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 307.55689307466184, + -473.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.15496928601516, + -472.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 312.7530454973685, + -470.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 315.3511217087218, + -469.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 317.9491979200751, + -467.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 320.5472741314284, + -466.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.14535034278174, + -464.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 325.74342655413506, + -463.13157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 331.30215148925777, + -462.4830444335937, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.34150276548837, + -461.63157054117454, + 1.0610078093530362 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 328.34150276548837, + -461.63157054117454, + 1.0610078093530362 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.34150276548837, + -461.63157054117454, + 1.0610078093530362 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 328.34150276548837, + -461.63157054117454, + 1.0610078093530362 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 328.34150276548837, + -461.63157054117454, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 329.84150276548837, + -464.22964675252786, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 331.34150276548837, + -466.8277229638812, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 332.84150276548837, + -469.4257991752345, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 334.34150276548837, + -472.0238753865878, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 335.84150276548837, + -474.6219515979411, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 337.34150276548837, + -477.22002780929444, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 338.84150276548837, + -479.81810402064775, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 340.34150276548837, + -482.41618023200107, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 341.84150276548837, + -485.0142564433544, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 343.34150276548837, + -487.6123326547077, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 344.84150276548837, + -490.210408866061, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 346.34150276548837, + -492.80848507741433, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 347.84150276548837, + -495.40656128876765, + 1.0610078093530362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 349.34150276548837, + -498.00463750012096, + 1.0610078093530362 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 358.6790771484375, + -512.1171630859375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}